+ python -m lidar_slam --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 meters SLAMing on 0.034203822 meters Centerline goodness : 0.114867 Centerline is valid? [0, False] SLAMing on 0.06420382200000001 meters Centerline goodness : 0.113762 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999972e-01 2.25748633e-04 7.19442277e-05 2.02637977e-03] [-2.25764934e-04 9.99999949e-01 2.26640843e-04 -1.91294389e-03] [-7.18930602e-05 -2.26657079e-04 9.99999972e-01 -4.08525149e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094203822 meters Centerline goodness : 0.282507 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999919e-01 4.01317007e-04 -2.35677628e-05 3.81140571e-03] [-4.01306957e-04 9.99999829e-01 4.24935522e-04 -4.04903796e-03] [ 2.37382927e-05 -4.24926030e-04 9.99999909e-01 -1.79643109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124203822 meters Centerline goodness : 0.273263 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999906e-01 3.99846308e-04 -1.68668063e-04 7.35041866e-03] [-3.99768275e-04 9.99999813e-01 4.62425026e-04 -3.01718114e-03] [ 1.68852931e-04 -4.62357554e-04 9.99999879e-01 -4.02154991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15420382200000002 meters SLAMing on 0.18420382200000002 meters Centerline goodness : 0.305261 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999912e-01 3.23682320e-04 2.68640920e-04 8.88663953e-03] [-3.23742395e-04 9.99999923e-01 2.23611557e-04 1.95055315e-03] [-2.68568520e-04 -2.23698507e-04 9.99999939e-01 -4.05551195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21420382200000002 meters Centerline goodness : 0.255117 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999832e-01 5.21011941e-04 2.52463144e-04 1.20327879e-02] [-5.21015520e-04 9.99999864e-01 1.41113528e-05 2.33784343e-03] [-2.52455757e-04 -1.42428876e-05 9.99999968e-01 -5.29296103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382200000001 meters Centerline goodness : 0.262448 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999864e-01 5.16701104e-04 6.59221793e-05 1.38086449e-02] [-5.16692675e-04 9.99999858e-01 -1.27816686e-04 3.34616710e-03] [-6.59882130e-05 1.27782607e-04 9.99999990e-01 -6.42689027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27420382200000004 meters Centerline goodness : 0.108250 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999899e-01 3.59538650e-04 2.68389117e-04 1.56097193e-02] [-3.59324137e-04 9.99999616e-01 -7.98881057e-04 8.79108526e-03] [-2.68676243e-04 7.98784538e-04 9.99999645e-01 -6.67201093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382200000007 meters Centerline goodness : 0.280351 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999956e-01 8.32138063e-05 2.86418449e-04 1.84762829e-02] [-8.28200883e-05 9.99999052e-01 -1.37436266e-03 1.45993976e-02] [-2.86532543e-04 1.37433888e-03 9.99999015e-01 -8.05946330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33420382200000004 meters Centerline goodness : 0.280336 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99999989e-01 1.14757237e-04 9.75123072e-05 2.00658853e-02] [-1.14632600e-04 9.99999178e-01 -1.27721929e-03 1.39597709e-02] [-9.76587972e-05 1.27720810e-03 9.99999180e-01 -8.81419024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382200000007 meters Centerline goodness : 0.236519 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 9.99998964e-01 -1.36961634e-03 -4.42744455e-04 2.72547551e-02] [ 1.36877740e-03 9.99997278e-01 -1.88963997e-03 1.31155917e-02] [ 4.45331332e-04 1.88903199e-03 9.99998117e-01 -1.20088583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39420382200000004 meters Centerline goodness : 0.284535 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 9.99998901e-01 -1.36178215e-03 -5.86703003e-04 2.83452012e-02] [ 1.36084954e-03 9.99997815e-01 -1.58706378e-03 1.11130119e-02] [ 5.88862956e-04 1.58626362e-03 9.99998569e-01 -1.23208700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382200000006 meters Centerline goodness : 0.285928 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.9999976 -0.00191625 -0.00106444 0.03296182] [ 0.00191511 0.99999759 -0.00106979 0.00642805] [ 0.00106649 0.00106775 0.99999886 -0.01378139] [ 0. 0. 0. 1. ]] SLAMing on 0.45420382200000003 meters Centerline goodness : 0.230761 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99999688 -0.00209815 -0.00135327 0.03703668] [ 0.00209678 0.99999729 -0.00100963 0.00861362] [ 0.00135539 0.00100679 0.99999857 -0.01633117] [ 0. 0. 0. 1. ]] SLAMing on 0.48420382200000006 meters Centerline goodness : 0.218918 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99996236e-01 -1.52498133e-03 -2.28089199e-03 4.78746304e-02] [ 1.52344528e-03 9.99998612e-01 -6.75029421e-04 1.08112333e-02] [ 2.28191823e-03 6.71552066e-04 9.99997171e-01 -2.34104862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514203822 meters Centerline goodness : 0.225690 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99996084e-01 -1.32981994e-03 -2.46232925e-03 4.96160523e-02] [ 1.32890246e-03 9.99999047e-01 -3.74207813e-04 8.24086640e-03] [ 2.46282453e-03 3.70934152e-04 9.99996898e-01 -2.42656941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5442038220000001 meters Centerline goodness : 0.207759 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99996081e-01 -1.02452331e-03 -2.60533791e-03 5.29959654e-02] [ 1.02403841e-03 9.99999458e-01 -1.87443058e-04 5.55696846e-03] [ 2.60552854e-03 1.84774357e-04 9.99996589e-01 -2.56106845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5742038220000001 meters Centerline goodness : 0.200221 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99995604e-01 -1.09324254e-03 -2.75606860e-03 5.47014598e-02] [ 1.09222496e-03 9.99999335e-01 -3.70693156e-04 7.38729397e-03] [ 2.75647202e-03 3.67681279e-04 9.99996133e-01 -2.66264940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6042038220000001 meters Centerline goodness : 0.212947 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.03 [[ 9.99994855e-01 -1.10349328e-03 -3.01211880e-03 5.93264423e-02] [ 1.10120571e-03 9.99999104e-01 -7.61008821e-04 1.22411907e-02] [ 3.01295587e-03 7.57687943e-04 9.99995174e-01 -2.91580257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.634203822 meters Centerline goodness : 0.194351 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 0.999994 -0.00121466 -0.00324528 0.06155779] [ 0.00121122 0.9999987 -0.00106388 0.01519411] [ 0.00324657 0.00105994 0.99999417 -0.03028814] [ 0. 0. 0. 1. ]] SLAMing on 0.664203822 meters Centerline goodness : 0.188756 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99990521e-01 -2.75834505e-04 -4.34534885e-03 7.34002118e-02] [ 2.72191355e-04 9.99999611e-01 -8.38971228e-04 1.56899445e-02] [ 4.34557858e-03 8.37780509e-04 9.99990207e-01 -3.71736599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6942038220000001 meters Centerline goodness : 0.187348 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.04 [[ 9.99989643e-01 2.32522257e-05 -4.55124297e-03 7.76728414e-02] [-2.68277085e-05 9.99999691e-01 -7.85546291e-04 1.39863050e-02] [ 4.55122330e-03 7.85660254e-04 9.99989334e-01 -3.91791833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7242038220000001 meters Centerline goodness : 0.184195 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988614e-01 -3.82653098e-07 -4.77194582e-03 7.98698839e-02] [-3.97959460e-06 9.99999582e-01 -9.14134902e-04 1.52397965e-02] [ 4.77194418e-03 9.14143484e-04 9.99988196e-01 -4.04210570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7542038220000001 meters Centerline goodness : 0.184195 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988614e-01 -3.82653098e-07 -4.77194582e-03 7.98698839e-02] [-3.97959460e-06 9.99999582e-01 -9.14134902e-04 1.52397965e-02] [ 4.77194418e-03 9.14143484e-04 9.99988196e-01 -4.04210570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784203822 meters Centerline goodness : 0.182418 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998025 0.00407275 -0.00478706 0.08249329] [-0.00405561 0.99998535 0.00358469 0.0152039 ] [ 0.00480159 -0.0035652 0.99998212 -0.04094264] [ 0. 0. 0. 1. ]] SLAMing on 0.8142038220000001 meters Centerline goodness : 0.179797 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998016 0.00397044 -0.00488953 0.08393914] [-0.00395416 0.99998662 0.00333513 0.01789951] [ 0.0049027 -0.00331573 0.99998248 -0.04158161] [ 0. 0. 0. 1. ]] SLAMing on 0.8442038220000001 meters Centerline goodness : 0.173816 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997945 0.00334747 -0.00546838 0.09216143] [-0.00333228 0.99999057 0.00278482 0.01598892] [ 0.00547765 -0.00276654 0.99998117 -0.04634213] [ 0. 0. 0. 1. ]] SLAMing on 0.8742038220000001 meters Centerline goodness : 0.172266 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.05 [[ 0.99997634 0.00364053 -0.00583722 0.09654594] [-0.00362247 0.99998863 0.00310145 0.01232287] [ 0.00584845 -0.00308023 0.99997815 -0.04854862] [ 0. 0. 0. 1. ]] SLAMing on 0.904203822 meters Centerline goodness : 0.167727 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:-0.07 [[ 0.99998628 0.00449483 0.00269101 0.10488164] [-0.00450505 0.99998262 0.00380192 0.01360647] [-0.00267388 -0.00381399 0.99998915 -0.07333161] [ 0. 0. 0. 1. ]] SLAMing on 0.9342038220000001 meters Centerline goodness : 0.220074 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.07 [[ 0.99995787 0.00872925 0.0028385 0.10730932] [-0.00875221 0.99992822 0.00818228 0.01379882] [-0.00276687 -0.00820678 0.9999625 -0.07379493] [ 0. 0. 0. 1. ]] SLAMing on 0.9642038220000001 meters Centerline goodness : 0.221592 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.07 [[ 0.99995877 0.00868491 0.00265206 0.10929888] [-0.00870537 0.99993168 0.00780116 0.01744699] [-0.00258413 -0.00782392 0.99996605 -0.07462441] [ 0. 0. 0. 1. ]] SLAMing on 0.9942038220000001 meters Centerline goodness : 0.148855 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996134 0.00849819 0.00225747 0.11554173] [-0.00851463 0.99993658 0.00737188 0.0179219 ] [-0.00219468 -0.00739082 0.99997028 -0.07866924] [ 0. 0. 0. 1. ]] SLAMing on 1.024203822 meters Centerline goodness : 0.151191 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996088 0.00862633 0.00195477 0.11957136] [-0.00864086 0.99993418 0.00754761 0.01685587] [-0.00188954 -0.00756421 0.99996961 -0.08054026] [ 0. 0. 0. 1. ]] SLAMing on 1.054203822 meters Centerline goodness : 0.152138 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.08 [[ 0.99996237 0.00848851 0.00179155 0.12148934] [-0.00850153 0.99993655 0.00738999 0.01859847] [-0.00172871 -0.00740494 0.99997109 -0.08158291] [ 0. 0. 0. 1. ]] SLAMing on 1.084203822 meters Centerline goodness : 0.211353 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.08 [[ 0.99998193 0.00562742 -0.00211328 0.14847745] [-0.00560987 0.99995047 0.00822154 0.02354945] [ 0.00215944 -0.00820953 0.99996397 -0.0840168 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1142038220000001 meters Centerline goodness : 0.212305 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 0.99999064 0.00317901 -0.00293434 0.15676117] [-0.00316515 0.99998387 0.00471521 0.02688176] [ 0.00294928 -0.00470588 0.99998458 -0.08921366] [ 0. 0. 0. 1. ]] SLAMing on 1.1442038220000001 meters Centerline goodness : 0.114453 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 9.99994342e-01 -8.88282145e-04 -3.24460648e-03 1.60475197e-01] [ 8.89010586e-04 9.99999580e-01 2.23072932e-04 2.88769134e-02] [ 3.24440697e-03 -2.25956159e-04 9.99994711e-01 -9.03484066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1742038220000002 meters Centerline goodness : 0.221339 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.09 [[ 9.99993697e-01 -8.37629058e-04 -3.45029144e-03 1.62608281e-01] [ 8.39206451e-04 9.99999544e-01 4.55754077e-04 2.68364400e-02] [ 3.44990811e-03 -4.58646712e-04 9.99993944e-01 -9.13048101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038220000002 meters Centerline goodness : 0.235111 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99992442e-01 -1.02096841e-03 -3.75134503e-03 1.66372622e-01] [ 1.02193261e-03 9.99999445e-01 2.55121988e-04 2.95031809e-02] [ 3.75108248e-03 -2.58953682e-04 9.99992931e-01 -9.31319338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2342038220000002 meters Centerline goodness : 0.244186 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991723e-01 -1.17478451e-03 -3.89546862e-03 1.68013856e-01] [ 1.17482747e-03 9.99999310e-01 8.74146687e-06 3.17046099e-02] [ 3.89545566e-03 -1.33178981e-05 9.99992413e-01 -9.38701846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264203822 meters Centerline goodness : 0.244933 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991689e-01 -1.16462137e-03 -3.90712801e-03 1.70466449e-01] [ 1.16436165e-03 9.99999320e-01 -6.87475746e-05 3.22638045e-02] [ 3.90720542e-03 6.41976932e-05 9.99992365e-01 -9.43592416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294203822 meters Centerline goodness : 0.252768 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.09 [[ 9.99991317e-01 -1.16181462e-03 -4.00210218e-03 1.72697548e-01] [ 1.16152733e-03 9.99999323e-01 -7.41085853e-05 3.24044828e-02] [ 4.00218557e-03 6.94593907e-05 9.99991989e-01 -9.48348263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.324203822 meters Centerline goodness : 0.257096 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.10 [[ 9.99990516e-01 -1.23426483e-03 -4.17664442e-03 1.74424303e-01] [ 1.23355036e-03 9.99999224e-01 -1.73636017e-04 3.32123599e-02] [ 4.17685549e-03 1.68482269e-04 9.99991263e-01 -9.56214149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3542038220000001 meters Centerline goodness : 0.261595 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99988606e-01 -1.41633014e-03 -4.55881030e-03 1.78259264e-01] [ 1.41415494e-03 9.99998885e-01 -4.80328990e-04 3.59604922e-02] [ 4.55948552e-03 4.73876653e-04 9.99989493e-01 -9.73446974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3842038220000001 meters Centerline goodness : 0.043283 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99988132e-01 -1.46589062e-03 -4.64611186e-03 1.79374639e-01] [ 1.46343073e-03 9.99998787e-01 -5.32806429e-04 3.63529664e-02] [ 4.64688726e-03 5.26000843e-04 9.99989065e-01 -9.76377016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4142038220000002 meters Centerline goodness : 0.267373 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.10 [[ 9.99982418e-01 -1.99639710e-03 -5.58373691e-03 1.90192521e-01] [ 1.99176098e-03 9.99997667e-01 -8.35728297e-04 3.73478403e-02] [ 5.58539233e-03 8.24592134e-04 9.99984062e-01 -1.04137459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4442038220000002 meters Centerline goodness : 0.269464 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.11 [[ 9.99981286e-01 -1.99441242e-03 -5.78361333e-03 1.92218375e-01] [ 1.98982772e-03 9.99997702e-01 -7.98351259e-04 3.69534589e-02] [ 5.78519227e-03 7.86827924e-04 9.99982956e-01 -1.05185333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4742038220000002 meters Centerline goodness : 0.270941 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 9.99991405e-01 -3.21693285e-03 2.61576707e-03 2.10794000e-01] [ 3.21944744e-03 9.99994359e-01 -9.57680146e-04 4.02122055e-02] [-2.61267152e-03 9.66093239e-04 9.99996120e-01 -1.32054109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5042038220000002 meters Centerline goodness : 0.207810 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.99999174 -0.00338698 0.00224688 0.21494586] [ 0.00338963 0.99999356 -0.00117534 0.04212181] [-0.00224289 0.00118295 0.99999679 -0.13404421] [ 0. 0. 0. 1. ]] SLAMing on 1.534203822 meters Centerline goodness : 0.211495 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.14 [[ 0.9999916 -0.00354291 0.00206269 0.21688462] [ 0.00354582 0.99999272 -0.00140784 0.04383308] [-0.00205769 0.00141514 0.99999688 -0.13509184] [ 0. 0. 0. 1. ]] SLAMing on 1.564203822 meters Centerline goodness : 0.214805 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 0.99999121 -0.00376895 0.0018381 0.21996746] [ 0.00377224 0.99999128 -0.00179163 0.04716394] [-0.00183133 0.00179855 0.99999671 -0.13597316] [ 0. 0. 0. 1. ]] SLAMing on 1.594203822 meters Centerline goodness : 0.286264 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 0.99999123 -0.0038421 0.00166807 0.22152074] [ 0.00384525 0.99999082 -0.00189105 0.04786657] [-0.00166079 0.00189745 0.99999682 -0.1362949 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6242038220000001 meters Centerline goodness : 0.210900 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 0.99999105 -0.00406626 0.00116629 0.22635882] [ 0.00406837 0.99999009 -0.0018075 0.04593757] [-0.00115892 0.00181223 0.99999769 -0.13826336] [ 0. 0. 0. 1. ]] SLAMing on 1.6542038220000002 meters Centerline goodness : 0.294686 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:-0.14 [[ 9.99991843e-01 -3.91811189e-03 9.80794952e-04 2.27990310e-01] [ 3.91948443e-03 9.99991337e-01 -1.40142355e-03 4.25584720e-02] [-9.75295521e-04 1.40525633e-03 9.99998537e-01 -1.38820722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6842038220000002 meters Centerline goodness : 0.293753 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.14 [[ 9.99988648e-01 -4.76463090e-03 -4.14331985e-05 2.39360738e-01] [ 4.76456632e-03 9.99987613e-01 -1.43959488e-03 4.17270766e-02] [ 4.82918235e-05 1.43938112e-03 9.99998963e-01 -1.44803440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7142038220000002 meters Centerline goodness : 0.294920 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:-0.15 [[ 9.99987895e-01 -4.91569989e-03 -2.14276577e-04 2.40829845e-01] [ 4.91535640e-03 9.99986679e-01 -1.57514510e-03 4.34389214e-02] [ 2.22016663e-04 1.57407279e-03 9.99998737e-01 -1.45050430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7442038220000002 meters Centerline goodness : 0.220287 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.15 [[ 0.99998558 -0.00521513 -0.00128418 0.2526706 ] [ 0.00521343 0.99998553 -0.00132805 0.04157606] [ 0.00129109 0.00132133 0.99999829 -0.15180241] [ 0. 0. 0. 1. ]] SLAMing on 1.7742038220000003 meters Centerline goodness : 0.288725 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.16 [[ 0.99997834 -0.00615672 -0.00232622 0.26256105] [ 0.00615341 0.99998005 -0.0014293 0.03480441] [ 0.00233497 0.00141496 0.99999627 -0.15688946] [ 0. 0. 0. 1. ]] SLAMing on 1.804203822 meters Centerline goodness : 0.225373 Centerline is valid? [False, False] Translation: X:0.26, Y:0.03, Z:-0.16 [[ 0.99997866 -0.00603911 -0.00249292 0.26408295] [ 0.00603588 0.99998094 -0.00129857 0.03408121] [ 0.00250071 0.00128349 0.99999605 -0.15737235] [ 0. 0. 0. 1. ]] SLAMing on 1.834203822 meters Centerline goodness : 0.077121 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99998054 -0.00545261 -0.00303247 0.26842528] [ 0.00544862 0.99998428 -0.00132196 0.03614576] [ 0.00303963 0.00130541 0.99999453 -0.15858536] [ 0. 0. 0. 1. ]] SLAMing on 1.8642038220000001 meters Centerline goodness : 0.074906 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99998019 -0.00534551 -0.00332393 0.27074492] [ 0.0053407 0.99998468 -0.00145479 0.03769204] [ 0.00333165 0.00143701 0.99999342 -0.15954496] [ 0. 0. 0. 1. ]] SLAMing on 1.8942038220000001 meters Centerline goodness : 0.091351 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.16 [[ 9.99988012e-01 -2.73473027e-03 -4.06169649e-03 2.78881725e-01] [ 2.73308941e-03 9.99996181e-01 -4.09477909e-04 3.90055970e-02] [ 4.06280079e-03 3.98372021e-04 9.99991667e-01 -1.64225990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9242038220000002 meters Centerline goodness : 0.091613 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.16 [[ 9.99987327e-01 -2.50621088e-03 -4.36626616e-03 2.81024275e-01] [ 2.50417709e-03 9.99996754e-01 -4.71201721e-04 3.99659253e-02] [ 4.36743291e-03 4.60261846e-04 9.99990357e-01 -1.64798576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9542038220000002 meters Centerline goodness : 0.222441 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99986095e-01 -1.44397334e-03 -5.07198700e-03 2.86689112e-01] [ 1.44378994e-03 9.99998957e-01 -3.98203669e-05 3.84595512e-02] [ 5.07203920e-03 3.24969294e-05 9.99987137e-01 -1.67133953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9842038220000002 meters Centerline goodness : 0.091510 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99985116e-01 -1.38309139e-03 -5.27779428e-03 2.88408592e-01] [ 1.38219071e-03 9.99999030e-01 -1.74299490e-04 3.96999233e-02] [ 5.27803023e-03 1.67001977e-04 9.99986057e-01 -1.67845263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0142038220000003 meters Centerline goodness : 0.215160 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99983085e-01 -8.44470037e-04 -5.75462416e-03 2.91966645e-01] [ 8.42141582e-04 9.99999563e-01 -4.07034460e-04 4.34777982e-02] [ 5.75496537e-03 4.02181367e-04 9.99983359e-01 -1.68643698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044203822 meters Centerline goodness : 0.204134 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.19 [[ 9.99997619e-01 4.37156227e-04 2.13780797e-03 3.11361999e-01] [-4.40297682e-04 9.99998824e-01 1.46922506e-03 4.41272979e-02] [-2.13716317e-03 -1.47016283e-03 9.99996636e-01 -1.92764888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0742038220000003 meters Centerline goodness : 0.199927 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.19 [[ 9.99997908e-01 5.64335400e-04 1.96598848e-03 3.12611888e-01] [-5.67771503e-04 9.99998312e-01 1.74765390e-03 4.21385642e-02] [-1.96499890e-03 -1.74876647e-03 9.99996540e-01 -1.93030875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104203822 meters Centerline goodness : 0.176928 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.19 [[ 9.99999143e-01 2.71488879e-04 1.28067147e-03 3.17338541e-01] [-2.74421349e-04 9.99997340e-01 2.29017099e-03 3.65909318e-02] [-1.28004631e-03 -2.29052048e-03 9.99996557e-01 -1.94282447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1342038220000004 meters Centerline goodness : 0.191385 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.19 [[ 9.99999424e-01 3.82226924e-04 1.00262040e-03 3.19203683e-01] [-3.84933402e-04 9.99996279e-01 2.70060148e-03 3.34648683e-02] [-1.00158443e-03 -2.70098587e-03 9.99995851e-01 -1.94777243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164203822 meters Centerline goodness : 0.187989 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.20 [[ 9.99999711e-01 4.63854167e-04 6.01581369e-04 3.22370743e-01] [-4.65704216e-04 9.99995152e-01 3.07882507e-03 3.07892712e-02] [-6.00150327e-04 -3.07910434e-03 9.99995079e-01 -1.95931762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1942038220000004 meters Centerline goodness : 0.186647 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.20 [[ 9.99999877e-01 3.55338057e-04 3.46108759e-04 3.24228026e-01] [-3.56322236e-04 9.99995882e-01 2.84765343e-03 3.25565420e-02] [-3.45095454e-04 -2.84777641e-03 9.99995886e-01 -1.96659149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224203822 meters Centerline goodness : 0.185229 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.20 [[ 9.99999793e-01 6.00338001e-04 -2.29878934e-04 3.28055680e-01] [-5.99738807e-04 9.99996446e-01 2.59782251e-03 3.55052445e-02] [ 2.31437688e-04 -2.59768410e-03 9.99996599e-01 -1.97735782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254203822 meters Centerline goodness : 0.182721 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.20 [[ 9.99999615e-01 7.21976031e-04 -4.98159444e-04 3.29684797e-01] [-7.20601911e-04 9.99995951e-01 2.75308233e-03 3.44116171e-02] [ 5.00145086e-04 -2.75272229e-03 9.99996086e-01 -1.97933327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2842038220000003 meters Centerline goodness : 0.177959 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.20 [[ 9.99999121e-01 9.48407179e-04 -9.26135634e-04 3.32828127e-01] [-9.45401643e-04 9.99994303e-01 3.24030658e-03 3.05563470e-02] [ 9.29203488e-04 -3.23942816e-03 9.99994321e-01 -1.98586769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314203822 meters Centerline goodness : 0.176590 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999857 0.00106477 -0.00131585 0.33546401] [-0.00106 0.99999288 0.00362213 0.0279292 ] [ 0.0013197 -0.00362073 0.99999257 -0.19862924] [ 0. 0. 0. 1. ]] SLAMing on 2.3442038220000003 meters Centerline goodness : 0.082255 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999818 0.00106776 -0.00157936 0.33700868] [-0.00106185 0.99999247 0.00373336 0.02725601] [ 0.00158334 -0.00373168 0.99999178 -0.19876875] [ 0. 0. 0. 1. ]] SLAMing on 2.374203822 meters Centerline goodness : 0.166888 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.20 [[ 0.99999635 0.00109189 -0.00247085 0.34699116] [-0.00108242 0.99999209 0.00382814 0.0279469 ] [ 0.00247501 -0.00382545 0.99998962 -0.20430639] [ 0. 0. 0. 1. ]] SLAMing on 2.4042038220000004 meters Centerline goodness : 0.082294 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.20 [[ 0.99999556 0.00120121 -0.00272883 0.34835691] [-0.00118996 0.99999081 0.00411805 0.02602597] [ 0.00273375 -0.00411478 0.9999878 -0.20431939] [ 0. 0. 0. 1. ]] SLAMing on 2.434203822 meters Centerline goodness : 0.167323 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99991778e-01 -2.39705617e-03 -3.27077459e-03 3.51870219e-01] [ 2.39697882e-03 9.99997127e-01 -2.75692333e-05 2.58938690e-02] [ 3.27083128e-03 1.97290292e-05 9.99994651e-01 -2.05073963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4642038220000004 meters Centerline goodness : 0.081468 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99990579e-01 -2.32565670e-03 -3.66524257e-03 3.54385616e-01] [ 2.32571469e-03 9.99997295e-01 1.15592967e-05 2.58595312e-02] [ 3.66520577e-03 -2.00834962e-05 9.99993283e-01 -2.05083866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4942038220000002 meters Centerline goodness : 0.089704 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99989498e-01 -2.37588678e-03 -3.91908594e-03 3.55835458e-01] [ 2.37553074e-03 9.99997174e-01 -9.54998377e-05 2.66619101e-02] [ 3.91930177e-03 8.61889256e-05 9.99992316e-01 -2.05294177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524203822 meters Centerline goodness : 0.081922 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99987947e-01 -2.36741480e-03 -4.30126314e-03 3.58344462e-01] [ 2.36724684e-03 9.99997197e-01 -4.41386819e-05 2.63864966e-02] [ 4.30135558e-03 3.39559983e-05 9.99990749e-01 -2.05853932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5542038220000003 meters Centerline goodness : 0.090079 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99986827e-01 -2.37146879e-03 -4.55213707e-03 3.59815570e-01] [ 2.37114538e-03 9.99997186e-01 -7.64404137e-05 2.66987520e-02] [ 4.55230553e-03 6.56456279e-05 9.99989636e-01 -2.06065320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584203822 meters Centerline goodness : 0.082345 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99985276e-01 -2.23565061e-03 -4.94464345e-03 3.62207553e-01] [ 2.23596621e-03 9.99997499e-01 5.82991182e-05 2.58332892e-02] [ 4.94450075e-03 -6.93543154e-05 9.99987773e-01 -2.06262362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6142038220000003 meters Centerline goodness : 0.081355 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99984216e-01 -2.16419992e-03 -5.18502885e-03 3.63561065e-01] [ 2.16493070e-03 9.99997647e-01 1.35331609e-04 2.53237600e-02] [ 5.18472377e-03 -1.46554701e-04 9.99986548e-01 -2.06579468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644203822 meters Centerline goodness : 0.081355 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99984216e-01 -2.16419992e-03 -5.18502885e-03 3.63561065e-01] [ 2.16493070e-03 9.99997647e-01 1.35331609e-04 2.53237600e-02] [ 5.18472377e-03 -1.46554701e-04 9.99986548e-01 -2.06579468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6742038220000004 meters Centerline goodness : 0.083374 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99982175e-01 -2.09703655e-03 -5.59031969e-03 3.66318689e-01] [ 2.09640848e-03 9.99997796e-01 -1.18207268e-04 2.71730212e-02] [ 5.59055525e-03 1.06485567e-04 9.99984367e-01 -2.07631704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704203822 meters Centerline goodness : 0.146416 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99980667e-01 -2.13371948e-03 -5.84060848e-03 3.67785278e-01] [ 2.13160025e-03 9.99997660e-01 -3.69045400e-04 2.89510361e-02] [ 5.84138225e-03 3.56588423e-04 9.99982875e-01 -2.08046751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7342038220000005 meters Centerline goodness : 0.082764 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99978447e-01 -2.10587343e-03 -6.21853623e-03 3.69976736e-01] [ 2.10126792e-03 9.99997513e-01 -7.47050702e-04 3.18657383e-02] [ 6.22009396e-03 7.33967790e-04 9.99980386e-01 -2.08324256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7642038220000003 meters Centerline goodness : 0.151838 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 0.99997652 -0.00220258 -0.00648972 0.37118357] [ 0.00219598 0.99999706 -0.00102389 0.03378248] [ 0.00649196 0.00100962 0.99997842 -0.208178 ] [ 0. 0. 0. 1. ]] SLAMing on 2.794203822 meters Centerline goodness : 0.129584 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 0.99997341 -0.0022397 -0.0069404 0.37343009] [ 0.00223139 0.99999679 -0.00120434 0.03518149] [ 0.00694308 0.00118883 0.99997519 -0.20793505] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038220000003 meters Centerline goodness : 0.129146 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99970338e-01 -2.35370129e-03 -7.33368151e-03 3.75583363e-01] [ 2.34681948e-03 9.99996798e-01 -9.46848073e-04 3.30699218e-02] [ 7.33588662e-03 9.29609161e-04 9.99972660e-01 -2.08116218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854203822 meters Centerline goodness : 0.146204 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99968638e-01 -2.24855166e-03 -7.59390299e-03 3.77031166e-01] [ 2.24480458e-03 9.99997354e-01 -5.01920889e-04 2.99987434e-02] [ 7.59501149e-03 4.84858319e-04 9.99971040e-01 -2.08475736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8842038220000004 meters Centerline goodness : 0.084959 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99965584e-01 -2.30110344e-03 -7.97092463e-03 3.79411741e-01] [ 2.30064504e-03 9.99997351e-01 -6.66782476e-05 2.65651477e-02] [ 7.97105695e-03 4.83376846e-05 9.99968229e-01 -2.09193551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914203822 meters Centerline goodness : 0.082513 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99963963e-01 -2.38826705e-03 -8.14666448e-03 3.80483441e-01] [ 2.38635545e-03 9.99997123e-01 -2.44360700e-04 2.76482482e-02] [ 8.14722464e-03 2.24911057e-04 9.99966786e-01 -2.09596652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9442038220000004 meters Centerline goodness : 0.115932 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99961207e-01 -2.51321157e-03 -8.44207364e-03 3.82424217e-01] [ 2.50880833e-03 9.99996711e-01 -5.32131896e-04 2.95505815e-02] [ 8.44338324e-03 5.10931708e-04 9.99964223e-01 -2.10302510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974203822 meters Centerline goodness : 0.155918 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99957961e-01 -2.55377735e-03 -8.80649371e-03 3.84505504e-01] [ 2.55085266e-03 9.99996688e-01 -3.43321801e-04 2.82415578e-02] [ 8.80734130e-03 3.20843300e-04 9.99961163e-01 -2.10705488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0042038220000005 meters Centerline goodness : 0.155994 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99956102e-01 -2.51214516e-03 -9.02682900e-03 3.85671378e-01] [ 2.51012669e-03 9.99996822e-01 -2.34930888e-04 2.75486532e-02] [ 9.02739050e-03 2.12262091e-04 9.99959230e-01 -2.11033127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0342038220000003 meters Centerline goodness : 0.133214 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99952919e-01 -2.43209258e-03 -9.39381519e-03 3.87486480e-01] [ 2.43028210e-03 9.99997026e-01 -2.04142074e-04 2.74477632e-02] [ 9.39428375e-03 1.81302842e-04 9.99955856e-01 -2.10818420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064203822 meters Centerline goodness : 0.131850 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99950637e-01 -2.53024021e-03 -9.60841768e-03 3.88510131e-01] [ 2.52527348e-03 9.99996672e-01 -5.29011000e-04 2.94546982e-02] [ 9.60972422e-03 5.04721004e-04 9.99953698e-01 -2.10956097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0942038220000003 meters Centerline goodness : 0.124977 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 0.99994667 -0.00244229 -0.01003485 0.39054853] [ 0.00243044 0.99999633 -0.00119291 0.03451314] [ 0.01003773 0.00116846 0.99994894 -0.21099195] [ 0. 0. 0. 1. ]] SLAMing on 3.124203822 meters Centerline goodness : 0.124373 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.21 [[ 0.9999443 -0.00249934 -0.01025396 0.39134707] [ 0.00248585 0.99999603 -0.00132826 0.03532527] [ 0.01025724 0.0013027 0.99994654 -0.21077943] [ 0. 0. 0. 1. ]] SLAMing on 3.1542038220000004 meters Centerline goodness : 0.120877 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99940194e-01 -2.50048287e-03 -1.06468562e-02 3.93109721e-01] [ 2.48971336e-03 9.99996376e-01 -1.02465429e-03 3.32113630e-02] [ 1.06493797e-02 9.98085392e-04 9.99942796e-01 -2.10567181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184203822 meters Centerline goodness : 0.115581 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99937623e-01 -2.37945445e-03 -1.09127922e-02 3.94046361e-01] [ 2.37388757e-03 9.99997046e-01 -5.23048638e-04 3.01117131e-02] [ 1.09140045e-02 4.97110270e-04 9.99940317e-01 -2.10247853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2142038220000004 meters Centerline goodness : 0.113373 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.21 [[ 9.99930748e-01 -3.17143232e-03 -1.13331993e-02 3.96096091e-01] [ 3.16905116e-03 9.99994953e-01 -2.28057402e-04 2.58327036e-02] [ 1.13338654e-02 1.92126120e-04 9.99935751e-01 -2.10203583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038220000002 meters Centerline goodness : 0.110234 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.21 [[ 9.99925865e-01 -3.48379969e-03 -1.16673896e-02 3.97773094e-01] [ 3.47894190e-03 9.99993853e-01 -4.36625480e-04 2.68962252e-02] [ 1.16688390e-02 3.96002940e-04 9.99931838e-01 -2.10317794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2742038220000005 meters Centerline goodness : 0.107856 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99989123e-01 -3.96995514e-03 2.44828168e-03 4.01041371e-01] [ 3.97175364e-03 9.99991846e-01 -7.30169563e-04 2.70510010e-02] [-2.44536297e-03 7.39885592e-04 9.99996736e-01 -2.17104071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3042038220000003 meters Centerline goodness : 0.103503 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998058 -0.00571094 0.00249527 0.39762739] [ 0.00571563 0.99998191 -0.00187605 0.02213995] [-0.00248451 0.00189027 0.99999513 -0.21322819] [ 0. 0. 0. 1. ]] SLAMing on 3.334203822 meters Centerline goodness : 0.101708 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998224 -0.00551904 0.0022492 0.3987958 ] [ 0.00552216 0.9999838 -0.00138354 0.0193572 ] [-0.00224153 0.00139593 0.99999651 -0.21346622] [ 0. 0. 0. 1. ]] SLAMing on 3.3642038220000003 meters Centerline goodness : 0.102595 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998352 -0.00540628 0.00193403 0.40039488] [ 0.0054087 0.9999846 -0.00124663 0.01876244] [-0.00192726 0.00125707 0.99999735 -0.21386841] [ 0. 0. 0. 1. ]] SLAMing on 3.394203822 meters Centerline goodness : 0.102614 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998407 -0.00537127 0.00173351 0.40122977] [ 0.00537343 0.99998479 -0.00124637 0.01884258] [-0.00172679 0.00125566 0.99999772 -0.21393717] [ 0. 0. 0. 1. ]] SLAMing on 3.4242038220000004 meters Centerline goodness : 0.101513 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998654 -0.00501173 0.00134591 0.40293022] [ 0.00501344 0.99998662 -0.00127561 0.01996518] [-0.0013395 0.00128234 0.99999828 -0.21408912] [ 0. 0. 0. 1. ]] SLAMing on 3.454203822 meters Centerline goodness : 0.101629 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.21 [[ 0.99998726 -0.00493434 0.00106182 0.40403908] [ 0.0049358 0.99998687 -0.0013745 0.02068601] [-0.00105502 0.00137972 0.99999849 -0.21416847] [ 0. 0. 0. 1. ]] SLAMing on 3.4842038220000005 meters Centerline goodness : 0.101302 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 9.99996736e-01 -2.55318925e-03 9.99261084e-05 4.11502086e-01] [ 2.55309685e-03 9.99996323e-01 9.14210457e-04 1.81966705e-02] [-1.02259893e-04 -9.13952351e-04 9.99999577e-01 -2.18272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5142038220000003 meters Centerline goodness : 0.102936 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99999982e-01 -1.70683815e-04 8.74576637e-05 4.07896599e-01] [ 1.70438281e-04 9.99996066e-01 2.79981877e-03 1.78183843e-02] [-8.79352034e-05 -2.79980382e-03 9.99996077e-01 -2.13923389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5442038220000005 meters Centerline goodness : 0.102022 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99999975e-01 -1.29883226e-04 -1.81258685e-04 4.08782051e-01] [ 1.30311973e-04 9.99997189e-01 2.36738341e-03 2.06160260e-02] [ 1.80950692e-04 -2.36740697e-03 9.99997181e-01 -2.13809808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5742038220000003 meters Centerline goodness : 0.095361 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99998699 0.00443309 0.00252296 0.38732744] [-0.00443049 0.99998965 -0.00103505 0.02004872] [-0.00252752 0.00102386 0.99999628 -0.21577256] [ 0. 0. 0. 1. ]] SLAMing on 3.604203822 meters Centerline goodness : 0.098693 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99998775 0.00434988 0.00236209 0.38796914] [-0.00434664 0.99998961 -0.00137652 0.02197538] [-0.00236805 0.00136624 0.99999626 -0.21586728] [ 0. 0. 0. 1. ]] SLAMing on 3.6342038220000004 meters Centerline goodness : 0.097060 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99997601 0.00678694 0.00138804 0.39498296] [-0.00678864 0.9999762 0.00122892 0.02281419] [-0.00137966 -0.00123831 0.99999828 -0.21961147] [ 0. 0. 0. 1. ]] SLAMing on 3.664203822 meters Centerline goodness : 0.096155 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 0.99997622 0.00678082 0.00125987 0.39559139] [-0.00678231 0.9999763 0.00118384 0.02302263] [-0.00125181 -0.00119235 0.99999851 -0.21985741] [ 0. 0. 0. 1. ]] SLAMing on 3.6942038220000004 meters Centerline goodness : 0.095609 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99976893e-01 6.73487568e-03 9.24755875e-04 3.97101730e-01] [-6.73580224e-03 9.99976812e-01 1.00252786e-03 2.39667912e-02] [-9.17982531e-04 -1.00873366e-03 9.99999070e-01 -2.20331670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724203822 meters Centerline goodness : 0.095735 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99977869e-01 6.60399222e-03 8.05080950e-04 3.97660839e-01] [-6.60457167e-03 9.99977931e-01 7.19218023e-04 2.54426762e-02] [-8.00313473e-04 -7.24519321e-04 9.99999417e-01 -2.20551710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7542038220000005 meters Centerline goodness : 0.095672 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99979010e-01 6.46005909e-03 4.98148028e-04 3.98703390e-01] [-6.46038140e-03 9.99978921e-01 6.48151251e-04 2.55051087e-02] [-4.93950433e-04 -6.51355872e-04 9.99999666e-01 -2.20188998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7842038220000003 meters Centerline goodness : 0.094988 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99980482e-01 6.24204813e-03 2.69756204e-04 3.99357712e-01] [-6.24227350e-03 9.99980162e-01 8.42831779e-04 2.38645710e-02] [-2.64489856e-04 -8.44499221e-04 9.99999608e-01 -2.19452183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8142038220000005 meters Centerline goodness : 0.072047 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99981115e-01 6.14472981e-03 1.05339141e-04 3.99928954e-01] [-6.14480705e-03 9.99980840e-01 7.49271890e-04 2.41620211e-02] [-1.00733049e-04 -7.49905029e-04 9.99999714e-01 -2.19413241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038220000003 meters Centerline goodness : 0.072908 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99982656e-01 5.88723095e-03 -1.68503842e-04 4.00961572e-01] [-5.88712575e-03 9.99982480e-01 6.18128065e-04 2.44242471e-02] [ 1.72139953e-04 -6.17125341e-04 9.99999795e-01 -2.19626600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874203822 meters Centerline goodness : 0.069942 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 9.99982534e-01 5.90054115e-03 -3.38371757e-04 4.01505395e-01] [-5.90027499e-03 9.99982287e-01 7.82256572e-04 2.34480692e-02] [ 3.42981501e-04 -7.80246423e-04 9.99999637e-01 -2.19563492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9042038220000004 meters Centerline goodness : 0.283660 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.22 [[ 0.99999477 0.0022974 0.0022753 0.35582184] [-0.00229181 0.99999436 -0.00245574 0.02396468] [-0.00228093 0.00245051 0.9999944 -0.21977925] [ 0. 0. 0. 1. ]] SLAMing on 3.934203822 meters Centerline goodness : 0.284899 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.22 [[ 0.99999512 0.00226828 0.00214807 0.35621393] [-0.00226289 0.99999429 -0.00250959 0.02424835] [-0.00215375 0.00250471 0.99999454 -0.21973652] [ 0. 0. 0. 1. ]] SLAMing on 3.9642038220000004 meters Centerline goodness : 0.068863 Centerline is valid? [False, False] Translation: X:0.38, Y:0.02, Z:-0.22 [[ 9.99989126e-01 -1.98755700e-04 4.65927781e-03 3.77678209e-01] [ 1.73408565e-04 9.99985189e-01 5.43991541e-03 2.38751497e-02] [-4.66029001e-03 -5.43904830e-03 9.99974349e-01 -2.21476047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9942038220000002 meters Centerline goodness : 0.068079 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.22 [[ 9.99990089e-01 -2.98028794e-04 4.44220135e-03 3.78246928e-01] [ 2.74913477e-04 9.99986425e-01 5.20327519e-03 2.50818783e-02] [-4.44369177e-03 -5.20200240e-03 9.99976596e-01 -2.20850202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0242038220000005 meters Centerline goodness : 0.912269 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.22 [[ 9.99997636e-01 1.94849796e-03 9.64978120e-04 3.58999421e-01] [-1.94516394e-03 9.99992178e-01 -3.44398866e-03 2.85638041e-02] [-9.71681176e-04 3.44210348e-03 9.99993604e-01 -2.19071827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054203822000001 meters Centerline goodness : 0.746520 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.22 [[ 9.99994396e-01 8.22693304e-04 3.24513238e-03 3.12960769e-01] [-8.07060923e-04 9.99988079e-01 -4.81554971e-03 3.25322257e-02] [-3.24905541e-03 4.81290370e-03 9.99983140e-01 -2.19850148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084203822 meters Centerline goodness : 0.290389 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 9.99994909e-01 2.96352670e-04 -3.17700436e-03 3.50417528e-01] [-2.60006138e-04 9.99934587e-01 1.14348190e-02 2.50704254e-02] [ 3.18018528e-03 -1.14339347e-02 9.99929573e-01 -2.13382757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114203822 meters Centerline goodness : 0.955528 Centerline is valid? [False, True] Translation: X:0.28, Y:0.03, Z:-0.22 [[ 9.99999673e-01 5.21764409e-04 6.17667082e-04 2.80441741e-01] [-5.20939701e-04 9.99998974e-01 -1.33460719e-03 3.43410165e-02] [-6.18362798e-04 1.33428499e-03 9.99998919e-01 -2.16468519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822000001 meters Centerline goodness : 0.950919 Centerline is valid? [True, True] Translation: X:0.31, Y:0.04, Z:-0.21 [[ 9.99990678e-01 9.35278029e-05 -4.31689088e-03 3.11415875e-01] [-9.43376377e-05 9.99999978e-01 -1.87393526e-04 3.65904026e-02] [ 4.31687326e-03 1.87799024e-04 9.99990665e-01 -2.11208418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174203822 meters Centerline goodness : 0.962333 Centerline is valid? [True, True] Translation: X:0.34, Y:0.04, Z:-0.22 [[ 9.99994861e-01 -9.69327286e-04 3.05587953e-03 3.39292392e-01] [ 9.68936536e-04 9.99999522e-01 1.29346269e-04 4.14635374e-02] [-3.05600344e-03 -1.26384651e-04 9.99995322e-01 -2.18793186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204203822 meters Centerline goodness : 0.948702 Centerline is valid? [True, False] Translation: X:0.35, Y:0.04, Z:-0.22 [[ 0.99996296 -0.00398728 0.00762738 0.35409891] [ 0.00392389 0.99995779 0.00830782 0.04160217] [-0.00766018 -0.00827758 0.9999364 -0.21929756] [ 0. 0. 0. 1. ]] SLAMing on 4.2342038220000005 meters Centerline goodness : 0.978710 Centerline is valid? [False, True] Translation: X:0.33, Y:0.05, Z:-0.21 [[ 0.99999008 -0.00244559 0.00372306 0.33230418] [ 0.00245007 0.99999628 -0.00119723 0.05031625] [-0.00372012 0.00120634 0.99999235 -0.21479564] [ 0. 0. 0. 1. ]] SLAMing on 4.264203822000001 meters Centerline goodness : 0.988237 Centerline is valid? [True, True] Translation: X:0.36, Y:0.06, Z:-0.22 [[ 9.99962627e-01 -5.69394059e-03 6.50565977e-03 3.64347974e-01] [ 5.69218597e-03 9.99983758e-01 2.88191073e-04 5.60604038e-02] [-6.50719504e-03 -2.51148877e-04 9.99978796e-01 -2.15013825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294203822 meters Centerline goodness : 0.973871 Centerline is valid? [True, True] Translation: X:0.40, Y:0.06, Z:-0.20 [[ 9.99935481e-01 -9.05772113e-03 -6.85504420e-03 3.98626521e-01] [ 9.05602399e-03 9.99958955e-01 -2.78576099e-04 6.05725627e-02] [ 6.85728610e-03 2.16478680e-04 9.99976465e-01 -2.01036907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324203822 meters Centerline goodness : 0.105635 Centerline is valid? [True, False] Translation: X:0.40, Y:0.06, Z:-0.20 [[ 9.99931780e-01 -9.39735541e-03 -6.93726107e-03 3.99012723e-01] [ 9.39223619e-03 9.99955595e-01 -7.70141242e-04 6.26709936e-02] [ 6.94419032e-03 7.04932308e-04 9.99975640e-01 -2.01374351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354203822000001 meters Centerline goodness : 0.978491 Centerline is valid? [False, True] Translation: X:0.40, Y:0.07, Z:-0.20 [[ 0.99992924 -0.00965435 -0.00695026 0.39916825] [ 0.00964557 0.99995264 -0.00129654 0.06514995] [ 0.00696245 0.00122941 0.99997501 -0.20162438] [ 0. 0. 0. 1. ]] SLAMing on 4.384203822000001 meters Centerline goodness : 0.079827 Centerline is valid? [True, False] Translation: X:0.40, Y:0.07, Z:-0.20 [[ 0.99992426 -0.01012669 -0.00699511 0.39939692] [ 0.01011116 0.99994634 -0.00225272 0.06965042] [ 0.00701755 0.00218182 0.999973 -0.20188148] [ 0. 0. 0. 1. ]] SLAMing on 4.414203822 meters Centerline goodness : 0.081463 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:-0.20 [[ 0.99992104 -0.01042903 -0.00701017 0.39920814] [ 0.01040984 0.99994198 -0.00276835 0.07202504] [ 0.00703863 0.00269516 0.9999716 -0.20139474] [ 0. 0. 0. 1. ]] SLAMing on 4.444203822 meters Centerline goodness : 0.082465 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:-0.20 [[ 0.99995285 -0.00672326 -0.00700666 0.39899416] [ 0.00673653 0.99997556 0.00187241 0.06874231] [ 0.0069939 -0.00191952 0.9999737 -0.20093143] [ 0. 0. 0. 1. ]] SLAMing on 4.474203822000001 meters Centerline goodness : 0.991406 Centerline is valid? [False, True] Translation: X:0.40, Y:0.07, Z:-0.20 [[ 0.99995087 -0.00701766 -0.00700072 0.39883504] [ 0.00702763 0.99997432 0.00140144 0.0708354 ] [ 0.00699071 -0.00145057 0.99997451 -0.20064694] [ 0. 0. 0. 1. ]] SLAMing on 4.504203822 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:0.43, Y:0.08, Z:-0.21 [[ 0.99995981 -0.0077957 -0.0044273 0.42671351] [ 0.00771542 0.99981053 -0.01787088 0.08485612] [ 0.00456578 0.017836 0.9998305 -0.20890213] [ 0. 0. 0. 1. ]] SLAMing on 4.534203822 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:0.46, Y:0.07, Z:-0.20 [[ 0.99991129 -0.00896433 -0.0098517 0.45574072] [ 0.00912781 0.99981927 0.01667638 0.06785099] [ 0.00970042 -0.01676482 0.9998124 -0.19955518] [ 0. 0. 0. 1. ]] SLAMing on 4.5642038220000005 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:0.48, Y:0.08, Z:-0.20 [[ 9.99918172e-01 -8.66303458e-03 -9.41281252e-03 4.83926137e-01] [ 8.66110440e-03 9.99962462e-01 -2.45803967e-04 7.90727347e-02] [ 9.41458858e-03 1.64258502e-04 9.99955668e-01 -2.01146405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594203822000001 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:0.51, Y:0.08, Z:-0.20 [[ 9.99923036e-01 -9.24111409e-03 -8.27791832e-03 5.12091981e-01] [ 9.23489216e-03 9.99957046e-01 -7.89539491e-04 8.33987455e-02] [ 8.28485898e-03 7.13033042e-04 9.99965426e-01 -2.03585818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203822 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:0.54, Y:0.09, Z:-0.20 [[ 9.99911048e-01 -9.22706900e-03 -9.63109405e-03 5.40165545e-01] [ 9.23051485e-03 9.99957349e-01 3.13393223e-04 8.58420249e-02] [ 9.62779157e-03 -4.02265302e-04 9.99953571e-01 -2.03236331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654203822 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:0.57, Y:0.09, Z:-0.20 [[ 9.99909567e-01 -1.03592768e-02 -8.57571832e-03 5.68512036e-01] [ 1.03576845e-02 9.99946331e-01 -2.30063650e-04 8.69276349e-02] [ 8.57764137e-03 1.41218260e-04 9.99963201e-01 -2.03765532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822000001 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:0.59, Y:0.13, Z:-0.20 [[ 0.99959663 -0.0081511 -0.02720553 0.59454287] [ 0.00640793 0.99795764 -0.06355703 0.12733783] [ 0.02766803 0.06335706 0.99760732 -0.1974825 ] [ 0. 0. 0. 1. ]] SLAMing on 4.714203822 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:0.63, Y:0.06, Z:-0.20 [[ 0.99986332 -0.01407648 -0.00867178 0.62804574] [ 0.01459281 0.99792723 0.06267615 0.05789995] [ 0.00777155 -0.06279413 0.99799624 -0.20060587] [ 0. 0. 0. 1. ]] SLAMing on 4.744203822 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:0.66, Y:0.10, Z:-0.21 [[ 9.99892737e-01 -1.33287167e-02 -6.07118400e-03 6.56164928e-01] [ 1.33281446e-02 9.99911167e-01 -1.34688586e-04 9.82580551e-02] [ 6.07243991e-03 5.37565202e-05 9.99981561e-01 -2.05912218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7742038220000005 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:0.68, Y:0.10, Z:-0.21 [[ 9.99883110e-01 -1.31365141e-02 -7.82290730e-03 6.83289521e-01] [ 1.31350196e-02 9.99913703e-01 -2.42398312e-04 9.96211759e-02] [ 7.82541647e-03 1.39615938e-04 9.99969371e-01 -2.05591162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804203822000001 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:0.71, Y:0.10, Z:-0.21 [[ 9.99890708e-01 -1.27595945e-02 -7.46752043e-03 7.11296427e-01] [ 1.27584105e-02 9.99918587e-01 -2.06176924e-04 9.96203172e-02] [ 7.46954321e-03 1.10880700e-04 9.99972096e-01 -2.05997946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834203822 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:0.74, Y:0.10, Z:-0.21 [[ 9.99922335e-01 -1.05722339e-02 -6.59943381e-03 7.37855347e-01] [ 1.05712717e-02 9.99944106e-01 -1.80663706e-04 1.01084475e-01] [ 6.60097496e-03 1.10885267e-04 9.99978207e-01 -2.05771131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864203822 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:0.76, Y:0.10, Z:-0.21 [[ 9.99947769e-01 -8.78499044e-03 -5.22334831e-03 7.64794888e-01] [ 8.78435946e-03 9.99961406e-01 -1.43730380e-04 1.03967038e-01] [ 5.22440939e-03 9.78391032e-05 9.99986348e-01 -2.05632379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894203822000001 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:0.79, Y:0.11, Z:-0.21 [[ 9.99982501e-01 -5.23409794e-03 -2.75727926e-03 7.91206940e-01] [ 5.23390557e-03 9.99986300e-01 -7.69801035e-05 1.08858719e-01] [ 2.75764441e-03 6.25474172e-05 9.99996196e-01 -2.05978361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203822000001 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:0.82, Y:0.11, Z:-0.21 [[ 9.99992191e-01 -1.17584666e-03 -3.77284091e-03 8.20239932e-01] [ 1.17545031e-03 9.99999303e-01 -1.07269806e-04 1.12176217e-01] [ 3.77296442e-03 1.02834182e-04 9.99992877e-01 -2.07239125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954203822 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:0.85, Y:0.11, Z:-0.21 [[ 9.99989247e-01 9.27668146e-04 -4.54380513e-03 8.48805272e-01] [-9.28264552e-04 9.99999561e-01 -1.29149858e-04 1.12692389e-01] [ 4.54368333e-03 1.33366323e-04 9.99989669e-01 -2.08262108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9842038220000005 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:0.88, Y:0.11, Z:-0.21 [[ 9.99978374e-01 4.53274077e-03 -4.76496001e-03 8.77304620e-01] [-4.53344349e-03 9.99989715e-01 -1.36686945e-04 1.12464320e-01] [ 4.76429144e-03 1.58285666e-04 9.99988638e-01 -2.08715714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014203822000001 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 9.99972714e-01 6.14706931e-03 -4.09700561e-03 9.06140416e-01] [-6.14759206e-03 9.99981097e-01 -1.15011941e-04 1.14993317e-01] [ 4.09622117e-03 1.40195522e-04 9.99991601e-01 -2.09292452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203822 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:0.93, Y:0.12, Z:-0.21 [[ 9.99957009e-01 8.43697266e-03 -3.84682210e-03 9.34131250e-01] [-8.43745266e-03 9.99964398e-01 -1.08567825e-04 1.19795110e-01] [ 3.84576916e-03 1.41020537e-04 9.99992595e-01 -2.10025121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074203822 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:0.96, Y:0.12, Z:-0.21 [[ 9.99953838e-01 8.93351170e-03 -3.53751751e-03 9.63130279e-01] [-8.93392060e-03 9.99960087e-01 -9.98049475e-05 1.20110892e-01] [ 3.53648471e-03 1.31404241e-04 9.99993738e-01 -2.10342449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822000001 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:0.99, Y:0.12, Z:-0.21 [[ 9.99957784e-01 9.02055324e-03 -1.74932209e-03 9.91839639e-01] [-9.02065449e-03 9.99959312e-01 -4.99968531e-05 1.18961393e-01] [ 1.74879992e-03 6.57747726e-05 9.99998469e-01 -2.10919114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134203822000001 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:1.02, Y:0.12, Z:-0.21 [[ 9.99959445e-01 8.87992884e-03 -1.50197795e-03 1.02138804e+00] [-8.88000233e-03 9.99960571e-01 -4.22630764e-05 1.19662253e-01] [ 1.50154344e-03 5.55989301e-05 9.99998871e-01 -2.12074341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203822 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:1.05, Y:0.12, Z:-0.21 [[ 9.99961760e-01 8.44653317e-03 -2.26585222e-03 1.05077463e+00] [-8.44669972e-03 9.99964324e-01 -6.39456192e-05 1.21578714e-01] [ 2.26523127e-03 8.30821473e-05 9.99997431e-01 -2.13435590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194203822 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:1.08, Y:0.13, Z:-0.21 [[ 9.99964719e-01 8.22198284e-03 -1.72048001e-03 1.07997708e+00] [-8.22207883e-03 9.99966197e-01 -4.87248988e-05 1.25680640e-01] [ 1.72002124e-03 6.28691020e-05 9.99998519e-01 -2.14769952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203822000001 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:1.11, Y:0.13, Z:-0.22 [[ 9.99967411e-01 7.90027604e-03 -1.66200059e-03 1.10999173e+00] [-7.90036527e-03 9.99968791e-01 -4.71303669e-05 1.28457059e-01] [ 1.66157638e-03 6.02592427e-05 9.99998618e-01 -2.15368199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254203822 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:1.14, Y:0.13, Z:-0.22 [[ 9.99973272e-01 7.12431690e-03 -1.64322115e-03 1.13899831e+00] [-7.12440173e-03 9.99974620e-01 -4.57808437e-05 1.30053733e-01] [ 1.64285329e-03 5.74865876e-05 9.99998649e-01 -2.15054782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203822 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:1.17, Y:0.13, Z:-0.22 [[ 9.99980761e-01 6.11780500e-03 -1.02445835e-03 1.16872592e+00] [-6.11783819e-03 9.99981285e-01 -2.92718170e-05 1.29995145e-01] [ 1.02426010e-03 3.55387243e-05 9.99999475e-01 -2.15224582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3142038220000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:1.20, Y:0.17, Z:-0.21 [[ 0.99986459 0.00561741 -0.01546754 1.19869504] [-0.00669701 0.99747831 -0.0706553 0.17486053] [ 0.01503163 0.07074932 0.99738086 -0.20547231] [ 0. 0. 0. 1. ]] SLAMing on 5.344203822000001 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:1.23, Y:0.09, Z:-0.21 [[ 0.99999011 0.00172496 -0.00409928 1.23123773] [-0.00143759 0.99760867 0.06910045 0.09489782] [ 0.00420867 -0.06909387 0.99760129 -0.213168 ] [ 0. 0. 0. 1. ]] SLAMing on 5.374203822 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:1.26, Y:0.14, Z:-0.22 [[ 9.99994481e-01 1.35321054e-03 -3.03442041e-03 1.25959369e+00] [-1.35347599e-03 9.99999080e-01 -8.54262766e-05 1.41602310e-01] [ 3.03430202e-03 8.95328202e-05 9.99995392e-01 -2.17461876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404203822 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:1.29, Y:0.14, Z:-0.22 [[ 9.99996585e-01 3.22917152e-04 -2.59320863e-03 1.28859329e+00] [-3.23110003e-04 9.99999945e-01 -7.39493148e-05 1.41571042e-01] [ 2.59318461e-03 7.47869540e-05 9.99996635e-01 -2.18780159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434203822000001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:1.32, Y:0.14, Z:-0.22 [[ 9.99997253e-01 -1.85848898e-03 -1.42816864e-03 1.31761910e+00] [ 1.85843194e-03 9.99998272e-01 -4.12641429e-05 1.41035119e-01] [ 1.42824286e-03 3.86098753e-05 9.99998979e-01 -2.18826606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203822000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:1.35, Y:0.15, Z:-0.22 [[ 9.99995727e-01 -2.87556214e-03 -5.26062519e-04 1.34657883e+00] [ 2.87555461e-03 9.99995865e-01 -1.50801571e-05 1.45830868e-01] [ 5.26103708e-04 1.35673712e-05 9.99999862e-01 -2.17890483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.38, Y:0.15, Z:-0.22 [[ 9.99996558e-01 -2.61785624e-03 1.76529171e-04 1.37720713e+00] [ 2.61785541e-03 9.99996573e-01 4.97255474e-06 1.49926862e-01] [-1.76541583e-04 -4.51040978e-06 9.99999984e-01 -2.18967688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5242038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.41, Y:0.16, Z:-0.22 [[ 9.99999627e-01 -8.47908237e-04 1.62740349e-04 1.40733954e+00] [ 8.47907460e-04 9.99999641e-01 4.84299773e-06 1.55579407e-01] [-1.62744396e-04 -4.70500717e-06 9.99999987e-01 -2.20320029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:0.16, Z:-0.22 [[ 9.99999440e-01 1.04784304e-03 1.51704524e-04 1.43813064e+00] [-1.04784370e-03 9.99999451e-01 4.27156246e-06 1.55797648e-01] [-1.51699964e-04 -4.43052270e-06 9.99999988e-01 -2.20852897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.47, Y:0.16, Z:-0.22 [[ 9.99997756e-01 2.11818017e-03 4.76701189e-05 1.46824525e+00] [-2.11818025e-03 9.99997757e-01 1.59922810e-06 1.57072306e-01] [-4.76666245e-05 -1.70019841e-06 9.99999999e-01 -2.21062812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.50, Y:0.17, Z:-0.22 [[ 9.99988333e-01 4.81392129e-03 -4.00099118e-04 1.49832243e+00] [-4.81392619e-03 9.99988413e-01 -1.12611575e-05 1.65722636e-01] [ 4.00040271e-04 1.31870737e-05 9.99999920e-01 -2.20693735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.53, Y:0.17, Z:-0.22 [[ 9.99981438e-01 6.07336073e-03 4.87952565e-04 1.52845666e+00] [-6.07336815e-03 9.99981557e-01 1.37338735e-05 1.72321600e-01] [-4.87860155e-04 -1.66971342e-05 9.99999881e-01 -2.21209266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.56, Y:0.18, Z:-0.22 [[ 9.99964769e-01 8.24341965e-03 1.58344273e-03 1.55889512e+00] [-8.24350092e-03 9.99966021e-01 4.48036614e-05 1.80596740e-01] [-1.58301959e-03 -5.78551945e-05 9.99998745e-01 -2.21883883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.59, Y:0.18, Z:-0.22 [[ 9.99960739e-01 8.68200364e-03 1.77284299e-03 1.59063963e+00] [-8.68210653e-03 9.99962309e-01 5.03466272e-05 1.83653541e-01] [-1.77233906e-03 -6.57366622e-05 9.99998427e-01 -2.22650297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7342038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.62, Y:0.19, Z:-0.22 [[ 9.99965436e-01 7.98782655e-03 2.30682288e-03 1.62084973e+00] [-7.98799982e-03 9.99968093e-01 6.59063970e-05 1.87167540e-01] [-2.30622283e-03 -8.43310198e-05 9.99997337e-01 -2.24434674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.65, Y:0.19, Z:-0.23 [[ 9.99983409e-01 5.40593315e-03 1.98961255e-03 1.65211773e+00] [-5.40605584e-03 9.99985386e-01 5.62897708e-05 1.93385225e-01] [-1.98927917e-03 -6.70447934e-05 9.99998019e-01 -2.25499543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:0.20, Z:-0.23 [[ 9.99990168e-01 3.65167770e-03 2.51573747e-03 1.68207199e+00] [-3.65186727e-03 9.99993329e-01 7.07640049e-05 1.98899520e-01] [-2.51546228e-03 -7.99504484e-05 9.99996833e-01 -2.25896578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:0.21, Z:-0.23 [[ 9.99995005e-01 -1.34175879e-03 2.86169500e-03 1.71296955e+00] [ 1.34153350e-03 9.99999097e-01 8.06455929e-05 2.09282631e-01] [-2.86180063e-03 -7.68061303e-05 9.99995902e-01 -2.25991213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.74, Y:0.21, Z:-0.23 [[ 9.99989338e-01 -4.10636844e-03 2.11231995e-03 1.74442440e+00] [ 4.10624646e-03 9.99991567e-01 6.20803606e-05 2.11314160e-01] [-2.11255707e-03 -5.34059923e-05 9.99997767e-01 -2.26981195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.78, Y:0.21, Z:-0.23 [[ 9.99956290e-01 -9.26456186e-03 1.25963679e-03 1.77606319e+00] [ 9.26452116e-03 9.99957083e-01 3.81393099e-05 2.10294826e-01] [-1.25993608e-03 -2.64677111e-05 9.99999206e-01 -2.28306003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.81, Y:0.21, Z:-0.23 [[ 9.99933434e-01 -1.14133003e-02 1.69215480e-03 1.80727400e+00] [ 1.14132365e-02 9.99934866e-01 4.73797908e-05 2.11708656e-01] [-1.69258534e-03 -2.80636741e-05 9.99998567e-01 -2.29237988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:0.22, Z:-0.23 [[ 9.99896144e-01 -1.40967163e-02 2.99745430e-03 1.83881671e+00] [ 1.40965294e-02 9.99900636e-01 8.34789454e-05 2.17800720e-01] [-2.99833324e-03 -4.12165729e-05 9.99995504e-01 -2.29359020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:0.22, Z:-0.23 [[ 9.99856883e-01 -1.66130892e-02 3.19664363e-03 1.86941977e+00] [ 1.66128866e-02 9.99861992e-01 8.99278675e-05 2.21459684e-01] [-3.19769644e-03 -3.68095194e-05 9.99994887e-01 -2.30188105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:0.22, Z:-0.23 [[ 9.99830250e-01 -1.81782444e-02 3.00366542e-03 1.90198543e+00] [ 1.81780747e-02 9.99834762e-01 8.37857920e-05 2.22806570e-01] [-3.00469218e-03 -2.91707150e-05 9.99995485e-01 -2.31102620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.93, Y:0.23, Z:-0.23 [[ 9.99776691e-01 -2.10619875e-02 1.72094547e-03 1.93304411e+00] [ 2.10619358e-02 9.99778172e-01 4.81183140e-05 2.26095213e-01] [-1.72157719e-03 -1.18611255e-05 9.99998518e-01 -2.32191065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0642038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.96, Y:0.23, Z:-0.23 [[ 9.99749752e-01 -2.23203282e-02 1.49574862e-03 1.96462543e+00] [ 2.23202909e-02 9.99750870e-01 4.16431995e-05 2.27316435e-01] [-1.49630548e-03 -8.24723413e-06 9.99998881e-01 -2.33647535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.00, Y:0.23, Z:-0.23 [[ 9.99692719e-01 -2.46876222e-02 2.23378480e-03 1.99549287e+00] [ 2.46875453e-02 9.99695214e-01 6.19839202e-05 2.27697299e-01] [-2.23463421e-03 -6.81821018e-06 9.99997503e-01 -2.34401649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:0.23, Z:-0.24 [[ 9.99673295e-01 -2.53623117e-02 3.17121410e-03 2.02683184e+00] [ 2.53621611e-02 9.99678325e-01 8.76812071e-05 2.29199109e-01] [-3.17241780e-03 -7.22371823e-06 9.99994968e-01 -2.35249587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.06, Y:0.23, Z:-0.24 [[ 9.99686034e-01 -2.48843755e-02 2.93263558e-03 2.05746447e+00] [ 2.48842455e-02 9.99690336e-01 8.08021602e-05 2.30072011e-01] [-2.93373816e-03 -7.80036727e-06 9.99995697e-01 -2.36570021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.09, Y:0.23, Z:-0.24 [[ 9.99703964e-01 -2.39923279e-02 4.04384622e-03 2.08883481e+00] [ 2.39920732e-02 9.99712143e-01 1.11510991e-04 2.29596506e-01] [-4.04535758e-03 -1.44577254e-05 9.99991817e-01 -2.38341932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.12, Y:0.23, Z:-0.24 [[ 9.99767993e-01 -2.12708312e-02 3.39293969e-03 2.11957061e+00] [ 2.12706353e-02 9.99773750e-01 9.38221390e-05 2.30917560e-01] [-3.39416771e-03 -2.16303890e-05 9.99994240e-01 -2.38860945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.15, Y:0.23, Z:-0.24 [[ 9.99847213e-01 -1.73314227e-02 2.27434520e-03 2.15047128e+00] [ 1.73313240e-02 9.99849799e-01 6.30683442e-05 2.32910469e-01] [-2.27509666e-03 -2.36412946e-05 9.99997412e-01 -2.39485082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2742038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.18, Y:0.23, Z:-0.24 [[ 9.99881775e-01 -1.53135855e-02 1.38956187e-03 2.18225528e+00] [ 1.53135469e-02 9.99882740e-01 3.84641985e-05 2.33783590e-01] [-1.38998795e-03 -1.71805303e-05 9.99999034e-01 -2.39988212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203822000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.21, Y:0.24, Z:-0.24 [[ 9.99932744e-01 -1.15743924e-02 7.35931933e-04 2.21327466e+00] [ 1.15743803e-02 9.99933014e-01 2.05820916e-05 2.37653303e-01] [-7.36120861e-04 -1.20627512e-05 9.99999729e-01 -2.41016043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.24, Y:0.24, Z:-0.24 [[ 9.99950743e-01 -9.77503931e-03 1.72061584e-03 2.24444748e+00] [ 9.77497200e-03 9.99952223e-01 4.75230318e-05 2.40084810e-01] [-1.72099817e-03 -3.07017193e-05 9.99998519e-01 -2.42445816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.27, Y:0.24, Z:-0.24 [[ 9.99974897e-01 -6.74411347e-03 2.17326658e-03 2.27485449e+00] [ 6.74399995e-03 9.99977257e-01 5.95610098e-05 2.42336186e-01] [-2.17361884e-03 -4.49030049e-05 9.99997637e-01 -2.43116606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:0.24, Z:-0.25 [[ 9.99976835e-01 -5.67229889e-03 3.76230322e-03 2.30740441e+00] [ 5.67194922e-03 9.99983909e-01 1.03604027e-04 2.44086645e-01] [-3.76283035e-03 -8.22620344e-05 9.99992917e-01 -2.45388248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:0.25, Z:-0.25 [[ 9.99988367e-01 -4.51355032e-03 1.70095362e-03 2.33815278e+00] [ 4.51347499e-03 9.99989813e-01 4.81215980e-05 2.46372644e-01] [-1.70115349e-03 -4.04438266e-05 9.99998552e-01 -2.45653267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.37, Y:0.25, Z:-0.25 [[ 9.99970639e-01 -5.46906233e-03 5.36752050e-03 2.36952768e+00] [ 5.46835683e-03 9.99985038e-01 1.46105407e-04 2.45267645e-01] [-5.36823925e-03 -1.16749600e-04 9.99985584e-01 -2.46822890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4842038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.40, Y:0.25, Z:-0.25 [[ 9.99970976e-01 -5.40720364e-03 5.36750639e-03 2.40218536e+00] [ 5.40649446e-03 9.99985374e-01 1.46627046e-04 2.46057853e-01] [-5.36822073e-03 -1.17603397e-04 9.99985584e-01 -2.47574588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.43, Y:0.25, Z:-0.25 [[ 9.99961116e-01 -6.74086407e-03 5.68576474e-03 2.43387346e+00] [ 6.74009477e-03 9.99977273e-01 1.54453472e-04 2.46357417e-01] [-5.68667667e-03 -1.16124873e-04 9.99983824e-01 -2.47349598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:0.25, Z:-0.25 [[ 9.99916903e-01 -1.04061335e-02 7.60913168e-03 2.46703719e+00] [ 1.04048472e-02 9.99945846e-01 2.08610262e-04 2.48521457e-01] [-7.61089045e-03 -1.29421074e-04 9.99971028e-01 -2.49211993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.50, Y:0.25, Z:-0.25 [[ 9.99900025e-01 -1.20940729e-02 7.32614947e-03 2.49925769e+00] [ 1.20929508e-02 9.99926858e-01 1.97434232e-04 2.49817147e-01] [-7.32800140e-03 -1.08819728e-04 9.99973144e-01 -2.50012723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:0.25, Z:-0.25 [[ 9.99856879e-01 -1.45958071e-02 8.55478026e-03 2.53104172e+00] [ 1.45943679e-02 9.99893470e-01 2.30643617e-04 2.49740200e-01] [-8.55723535e-03 -1.05758996e-04 9.99963381e-01 -2.51387116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:0.25, Z:-0.25 [[ 9.99862408e-01 -1.47913730e-02 7.50870057e-03 2.56361021e+00] [ 1.47902807e-02 9.99890598e-01 2.00987238e-04 2.46113451e-01] [-7.51085197e-03 -8.99037951e-05 9.99971789e-01 -2.52044356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.60, Y:0.24, Z:-0.25 [[ 9.99877766e-01 -1.43027237e-02 6.31539183e-03 2.59543975e+00] [ 1.43019440e-02 9.99897708e-01 1.68595986e-04 2.43900138e-01] [-6.31715720e-03 -7.82529977e-05 9.99980044e-01 -2.53222020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694203822 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.63, Y:0.24, Z:-0.25 [[ 9.99894192e-01 -1.35691944e-02 5.24231420e-03 2.62793345e+00] [ 1.35686475e-02 9.99907932e-01 1.39890918e-04 2.42931690e-01] [-5.24372975e-03 -6.87450034e-05 9.99986249e-01 -2.54139721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.66, Y:0.24, Z:-0.26 [[ 9.99936840e-01 -1.06246019e-02 3.66522805e-03 2.65937408e+00] [ 1.06243150e-02 9.99943556e-01 9.77263927e-05 2.43500978e-01] [-3.66605948e-03 -5.87796828e-05 9.99993278e-01 -2.55028534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.69, Y:0.24, Z:-0.25 [[ 9.99972088e-01 -6.12513012e-03 4.27856632e-03 2.69191537e+00] [ 6.12469830e-03 9.99981237e-01 1.14021976e-04 2.44811581e-01] [-4.27918445e-03 -8.78138652e-05 9.99990840e-01 -2.54977057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:0.24, Z:-0.26 [[ 9.99984441e-01 -3.59722518e-03 4.26352836e-03 2.72288226e+00] [ 3.59677529e-03 9.99993525e-01 1.13184890e-04 2.44854538e-01] [-4.26390791e-03 -9.78481753e-05 9.99990905e-01 -2.55297721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8142038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.76, Y:0.24, Z:-0.26 [[ 9.99978689e-01 4.12965140e-05 6.52836085e-03 2.75559907e+00] [-4.24256560e-05 9.99999984e-01 1.72821111e-04 2.42638009e-01] [-6.52835361e-03 -1.73094398e-04 9.99978675e-01 -2.55825942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.79, Y:0.24, Z:-0.26 [[ 9.99969728e-01 1.37803558e-03 7.65790468e-03 2.78772925e+00] [-1.37962429e-03 9.99999028e-01 2.02180925e-04 2.41134067e-01] [-7.65761863e-03 -2.12739836e-04 9.99970657e-01 -2.56434813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.82, Y:0.24, Z:-0.26 [[ 9.99961640e-01 3.25972104e-03 8.12970071e-03 2.82095599e+00] [-3.26157284e-03 9.99994658e-01 2.14534742e-04 2.42217495e-01] [-8.12895796e-03 -2.41042124e-04 9.99966930e-01 -2.56763877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.85, Y:0.24, Z:-0.26 [[ 9.99954288e-01 4.00634908e-03 8.68168750e-03 2.85414901e+00] [-4.00849792e-03 9.99991939e-01 2.30126733e-04 2.44631391e-01] [-8.68069555e-03 -2.64916739e-04 9.99962287e-01 -2.58366713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:0.24, Z:-0.26 [[ 9.99956541e-01 4.15133853e-03 8.34763434e-03 2.88638988e+00] [-4.15331614e-03 9.99991351e-01 2.19585813e-04 2.42693126e-01] [-8.34665056e-03 -2.54246635e-04 9.99965134e-01 -2.60546010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:0.24, Z:-0.26 [[ 9.99974363e-01 3.50610692e-03 6.24346414e-03 2.91840291e+00] [-3.50719976e-03 9.99993836e-01 1.64097691e-04 2.41592575e-01] [-6.24285032e-03 -1.85990560e-04 9.99980496e-01 -2.61426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.95, Y:0.24, Z:-0.26 [[ 9.99976102e-01 3.47611329e-03 5.97594558e-03 2.95090718e+00] [-3.47710976e-03 9.99993943e-01 1.56366574e-04 2.42805669e-01] [-5.97536584e-03 -1.77141855e-04 9.99982132e-01 -2.62393944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0242038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.98, Y:0.24, Z:-0.26 [[ 9.99977820e-01 3.71499321e-03 5.52804508e-03 2.98311196e+00] [-3.71584421e-03 9.99993086e-01 1.43679092e-04 2.43255517e-01] [-5.52747309e-03 -1.64217259e-04 9.99984710e-01 -2.62761497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.02, Y:0.25, Z:-0.26 [[ 9.99959713e-01 4.25359983e-03 7.90436623e-03 3.01568392e+00] [-4.25533393e-03 9.99990926e-01 2.02579396e-04 2.45186354e-01] [-7.90343281e-03 -2.36206953e-04 9.99968739e-01 -2.62257582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.05, Y:0.25, Z:-0.26 [[ 9.99952815e-01 4.47580660e-03 8.62172945e-03 3.04745772e+00] [-4.47785749e-03 9.99989950e-01 2.18585308e-04 2.47377556e-01] [-8.62066446e-03 -2.57181870e-04 9.99962808e-01 -2.62757576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:0.25, Z:-0.26 [[ 9.99956879e-01 4.05732128e-03 8.35337451e-03 3.08070722e+00] [-4.05921951e-03 9.99991739e-01 2.10299396e-04 2.50035040e-01] [-8.35245225e-03 -2.44198508e-04 9.99965088e-01 -2.64431704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:0.25, Z:-0.27 [[ 9.99956588e-01 3.70251838e-03 8.55068210e-03 3.11368240e+00] [-3.70448097e-03 9.99993116e-01 2.13697450e-04 2.51198539e-01] [-8.54983201e-03 -2.45364012e-04 9.99963419e-01 -2.65366391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.15, Y:0.25, Z:-0.27 [[ 9.99963512e-01 2.16465514e-03 8.26372631e-03 3.14561322e+00] [-2.16642203e-03 9.99997632e-01 2.04867599e-04 2.53648678e-01] [-8.26326328e-03 -2.22762842e-04 9.99965834e-01 -2.66217933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.18, Y:0.26, Z:-0.27 [[ 9.99976311e-01 -1.02878373e-03 6.80574251e-03 3.17815536e+00] [ 1.02766210e-03 9.99999458e-01 1.68301783e-04 2.55933370e-01] [-6.80591197e-03 -1.61303792e-04 9.99976827e-01 -2.67499982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2342038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.21, Y:0.26, Z:-0.27 [[ 9.99971969e-01 -2.36454951e-03 7.10420620e-03 3.21124235e+00] [ 2.36337067e-03 9.99997192e-01 1.74325313e-04 2.57339265e-01] [-7.10459845e-03 -1.57530554e-04 9.99974750e-01 -2.68429075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.26, Z:-0.27 [[ 9.99969341e-01 -4.93360934e-03 6.08089865e-03 3.24328906e+00] [ 4.93279785e-03 9.99987823e-01 1.48440277e-04 2.59848842e-01] [-6.08155694e-03 -1.18439883e-04 9.99981500e-01 -2.69214123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.28, Y:0.26, Z:-0.27 [[ 9.99959876e-01 -6.56320594e-03 6.09679287e-03 3.27509581e+00] [ 6.56244149e-03 9.99978456e-01 1.45382442e-04 2.61697721e-01] [-6.09761570e-03 -1.05366762e-04 9.99981404e-01 -2.70155333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.31, Y:0.27, Z:-0.27 [[ 9.99920625e-01 -1.00640141e-02 7.58019450e-03 3.30738035e+00] [ 1.00629292e-02 9.99949351e-01 1.81241201e-04 2.65006036e-01] [-7.58163459e-03 -1.04947854e-04 9.99971253e-01 -2.69994373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.34, Y:0.27, Z:-0.27 [[ 9.99905149e-01 -1.16292619e-02 7.37919216e-03 3.33925925e+00] [ 1.16282899e-02 9.99932374e-01 1.74618128e-04 2.66899958e-01] [-7.38072382e-03 -8.87941799e-05 9.99972758e-01 -2.70579772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.37, Y:0.27, Z:-0.27 [[ 9.99871711e-01 -1.45393912e-02 6.72071511e-03 3.37148726e+00] [ 1.45386537e-02 9.99894296e-01 1.58574513e-04 2.68868772e-01] [-6.72231028e-03 -6.08440203e-05 9.99977403e-01 -2.72256837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.40, Y:0.27, Z:-0.27 [[ 9.99863150e-01 -1.52796675e-02 6.34137752e-03 3.40307621e+00] [ 1.52790245e-02 9.99883258e-01 1.49839751e-04 2.68644914e-01] [-6.34292671e-03 -5.29291836e-05 9.99979882e-01 -2.74047311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.27, Z:-0.28 [[ 9.99849364e-01 -1.63900227e-02 5.71108553e-03 3.43553035e+00] [ 1.63895237e-02 9.99865674e-01 1.34159059e-04 2.67622454e-01] [-5.71251725e-03 -4.05368782e-05 9.99983683e-01 -2.76134254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.47, Y:0.27, Z:-0.28 [[ 9.99844807e-01 -1.65297119e-02 6.09354290e-03 3.46726557e+00] [ 1.65291487e-02 9.99863374e-01 1.42779602e-04 2.68520526e-01] [-6.09507047e-03 -4.20363672e-05 9.99981424e-01 -2.76153329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.50, Y:0.27, Z:-0.28 [[ 9.99837574e-01 -1.65129604e-02 7.22128243e-03 3.49884806e+00] [ 1.65121745e-02 9.99863651e-01 1.68437367e-04 2.71779640e-01] [-7.22307921e-03 -4.91709330e-05 9.99973912e-01 -2.75458044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.53, Y:0.27, Z:-0.28 [[ 9.99847438e-01 -1.62122739e-02 6.50103183e-03 3.53077591e+00] [ 1.62116305e-02 9.99868571e-01 1.51654453e-04 2.71784183e-01] [-6.50263607e-03 -4.62389904e-05 9.99978857e-01 -2.76419076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5642038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.56, Y:0.27, Z:-0.28 [[ 9.99853896e-01 -1.58345239e-02 6.43852184e-03 3.56280640e+00] [ 1.58338866e-02 9.99874625e-01 1.49939070e-04 2.71876802e-01] [-6.44008882e-03 -4.79703387e-05 9.99979261e-01 -2.77164424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.59, Y:0.27, Z:-0.28 [[ 9.99868149e-01 -1.45919200e-02 7.12461010e-03 3.59367097e+00] [ 1.45911129e-02 9.99893530e-01 1.65244682e-04 2.69743505e-01] [-7.12626278e-03 -6.12669040e-05 9.99974606e-01 -2.77716012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:0.27, Z:-0.28 [[ 9.99879415e-01 -1.37646490e-02 7.18955143e-03 3.62502935e+00] [ 1.37638078e-02 9.99905260e-01 1.66471042e-04 2.67893179e-01] [-7.19116171e-03 -6.74953642e-05 9.99974141e-01 -2.78437249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:0.27, Z:-0.28 [[ 9.99903446e-01 -1.20585521e-02 6.90580284e-03 3.65725434e+00] [ 1.20577355e-02 9.99927290e-01 1.59874171e-04 2.66865610e-01] [-6.90722857e-03 -7.65903908e-05 9.99976142e-01 -2.79015992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:0.27, Z:-0.28 [[ 9.99923284e-01 -9.63962691e-03 7.77842073e-03 3.68905763e+00] [ 9.63852166e-03 9.99953532e-01 1.79566199e-04 2.69351804e-01] [-7.77979024e-03 -1.04579947e-04 9.99969732e-01 -2.80278111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.72, Y:0.27, Z:-0.28 [[ 9.99933200e-01 -8.42219277e-03 7.91589893e-03 3.72159120e+00] [ 8.42101176e-03 9.99964526e-01 1.82513783e-04 2.69334728e-01] [-7.91715529e-03 -1.15841714e-04 9.99968652e-01 -2.81037098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.75, Y:0.27, Z:-0.28 [[ 9.99943178e-01 -7.11544241e-03 7.93795929e-03 3.75266088e+00] [ 7.11422054e-03 9.99974677e-01 1.82153014e-04 2.68825169e-01] [-7.93905438e-03 -1.25670271e-04 9.99968477e-01 -2.81640554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7742038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.78, Y:0.27, Z:-0.28 [[ 9.99962428e-01 -4.17358425e-03 7.59765702e-03 3.78416345e+00] [ 4.17238198e-03 9.99991280e-01 1.74086293e-04 2.67394221e-01] [-7.59831734e-03 -1.42379425e-04 9.99971122e-01 -2.82325356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:0.26, Z:-0.28 [[ 9.99976994e-01 -1.76758522e-03 6.54884670e-03 3.81658852e+00] [ 1.76663984e-03 9.99998428e-01 1.50139673e-04 2.64639763e-01] [-6.54910179e-03 -1.38566766e-04 9.99978545e-01 -2.82918666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.27, Z:-0.28 [[ 9.99973704e-01 -1.15743844e-03 7.15909297e-03 3.84895322e+00] [ 1.15629493e-03 9.99999318e-01 1.63864578e-04 2.65330873e-01] [-7.15927775e-03 -1.55582246e-04 9.99974360e-01 -2.83290736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.27, Z:-0.28 [[ 9.99964643e-01 6.10370383e-04 8.38695165e-03 3.87981967e+00] [-6.11992448e-04 9.99999795e-01 1.90838309e-04 2.68712779e-01] [-8.38683345e-03 -1.95964313e-04 9.99964811e-01 -2.84487342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:0.27, Z:-0.29 [[ 9.99968398e-01 1.68133699e-03 7.77020666e-03 3.91255424e+00] [-1.68276426e-03 9.99998568e-01 1.77151170e-04 2.68703012e-01] [-7.76989769e-03 -1.90220998e-04 9.99969796e-01 -2.85718977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203822000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.95, Y:0.27, Z:-0.29 [[ 9.99963379e-01 1.59634629e-03 8.40792744e-03 3.94564638e+00] [-1.59802318e-03 9.99998705e-01 1.92726529e-04 2.66080596e-01] [-8.40760889e-03 -2.06155534e-04 9.99964634e-01 -2.86984881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:0.26, Z:-0.29 [[ 9.99956236e-01 -2.89979179e-04 9.35105394e-03 3.97774051e+00] [ 2.88010967e-04 9.99999936e-01 2.11826125e-04 2.64999935e-01] [-9.35111477e-03 -2.09123648e-04 9.99956256e-01 -2.88082922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9842038220000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:0.26, Z:-0.29 [[ 9.99963560e-01 -8.60710254e-04 8.49339655e-03 4.00983340e+00] [ 8.59124759e-04 9.99999613e-01 1.90320587e-04 2.63895399e-01] [-8.49355707e-03 -1.83016764e-04 9.99963912e-01 -2.88876593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.04, Y:0.27, Z:-0.29 [[ 9.99968797e-01 -1.65056087e-03 7.72529468e-03 4.04205980e+00] [ 1.64927117e-03 9.99998625e-01 1.73312493e-04 2.65221622e-01] [-7.72557012e-03 -1.60565979e-04 9.99970144e-01 -2.89212711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.27, Z:-0.29 [[ 9.99969761e-01 -1.94147407e-04 7.77426267e-03 4.07384521e+00] [ 1.92823291e-04 9.99999967e-01 1.71069646e-04 2.70407656e-01] [-7.77429562e-03 -1.69565414e-04 9.99969765e-01 -2.89439468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.10, Y:0.27, Z:-0.29 [[ 9.99968692e-01 1.43405624e-03 7.78190370e-03 4.10484778e+00] [-1.43542795e-03 9.99998955e-01 1.70686112e-04 2.72158291e-01] [-7.78165080e-03 -1.81851130e-04 9.99969706e-01 -2.89952439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:0.27, Z:-0.29 [[ 9.99964106e-01 4.82542496e-03 6.96438090e-03 4.13686433e+00] [-4.82660596e-03 9.99988340e-01 1.52779873e-04 2.73076619e-01] [-6.96356247e-03 -1.86388711e-04 9.99975737e-01 -2.91606559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:0.27, Z:-0.29 [[ 9.99961841e-01 6.31838815e-03 6.03272773e-03 4.16978666e+00] [-6.31931547e-03 9.99980024e-01 1.34664983e-04 2.73688224e-01] [-6.03175636e-03 -1.72782554e-04 9.99981794e-01 -2.92847173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:0.28, Z:-0.29 [[ 9.99953332e-01 7.81242313e-03 5.68330956e-03 4.20164164e+00] [-7.81326423e-03 9.99969468e-01 1.25806145e-04 2.76207265e-01] [-5.68215319e-03 -1.70205474e-04 9.99983842e-01 -2.93849454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:0.28, Z:-0.29 [[ 9.99950731e-01 7.57677608e-03 6.41307185e-03 4.23453827e+00] [-7.57783228e-03 9.99971278e-01 1.40412706e-04 2.78973835e-01] [-6.41182378e-03 -1.89002970e-04 9.99979426e-01 -2.94293406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.29, Z:-0.29 [[ 9.99952607e-01 6.23202625e-03 7.47974510e-03 4.26695757e+00] [-6.23340960e-03 9.99980559e-01 1.61647472e-04 2.85139117e-01] [-7.47859229e-03 -2.08264126e-04 9.99972013e-01 -2.94475393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:0.29, Z:-0.30 [[ 9.99965611e-01 3.49650278e-03 7.52004255e-03 4.29941413e+00] [-3.49781377e-03 9.99993870e-01 1.61187472e-04 2.87867391e-01] [-7.51943286e-03 -1.87485637e-04 9.99971711e-01 -2.96006512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:0.29, Z:-0.30 [[ 9.99972077e-01 2.00117081e-03 7.19997675e-03 4.33148118e+00] [-2.00232367e-03 9.99997984e-01 1.52914912e-04 2.87114749e-01] [-7.19965622e-03 -1.67327326e-04 9.99974068e-01 -2.96989345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:0.29, Z:-0.30 [[ 9.99976519e-01 -6.42671039e-04 6.82270284e-03 4.36356036e+00] [ 6.41704519e-04 9.99999784e-01 1.43850478e-04 2.87530007e-01] [-6.82279381e-03 -1.39468941e-04 9.99976715e-01 -2.97218961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.40, Y:0.29, Z:-0.30 [[ 9.99976569e-01 -5.58752242e-04 6.82275957e-03 4.39706021e+00] [ 5.57802644e-04 9.99999834e-01 1.41082950e-04 2.88074594e-01] [-6.82283727e-03 -1.37273891e-04 9.99976715e-01 -2.97989674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:0.29, Z:-0.30 [[ 9.99977321e-01 -1.51187893e-03 6.56289024e-03 4.42980902e+00] [ 1.51101231e-03 9.99998849e-01 1.37004377e-04 2.89994424e-01] [-6.56308982e-03 -1.27084662e-04 9.99978455e-01 -2.98656007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:0.29, Z:-0.30 [[ 9.99971426e-01 -2.83016154e-03 7.00978702e-03 4.46200483e+00] [ 2.82921825e-03 9.99995987e-01 1.44480764e-04 2.94349767e-01] [-7.01016780e-03 -1.24644418e-04 9.99975421e-01 -2.98382511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.49, Y:0.30, Z:-0.30 [[ 9.99970766e-01 -2.17834893e-03 7.32951705e-03 4.49335247e+00] [ 2.17732756e-03 9.99997619e-01 1.47327127e-04 2.99533286e-01] [-7.32982053e-03 -1.31364061e-04 9.99973128e-01 -2.98637294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:0.30, Z:-0.30 [[ 9.99969801e-01 -1.31235126e-03 7.65999989e-03 4.52524190e+00] [ 1.31121101e-03 9.99999129e-01 1.53877880e-04 3.01252097e-01] [-7.66019515e-03 -1.43829357e-04 9.99970650e-01 -2.99700335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.56, Y:0.30, Z:-0.30 [[ 9.99972303e-01 2.82766005e-04 7.43727511e-03 4.55656486e+00] [-2.83881099e-04 9.99999949e-01 1.48877928e-04 3.01911750e-01] [-7.43723263e-03 -1.50985106e-04 9.99972332e-01 -3.00623413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:0.30, Z:-0.30 [[ 9.99975772e-01 9.53490548e-04 6.89543636e-03 4.59003040e+00] [-9.54467699e-04 9.99999535e-01 1.38420525e-04 3.03900593e-01] [-6.89530117e-03 -1.44998642e-04 9.99976217e-01 -3.01555176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.62, Y:0.31, Z:-0.30 [[ 9.99973558e-01 1.17969987e-03 7.17574091e-03 4.62193942e+00] [-1.18076508e-03 9.99999292e-01 1.44211021e-04 3.08853426e-01] [-7.17556571e-03 -1.52680073e-04 9.99974244e-01 -3.03006202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:0.31, Z:-0.30 [[ 9.99975409e-01 -2.28851212e-04 7.00919250e-03 4.65530493e+00] [ 2.27867255e-04 9.99999964e-01 1.41179133e-04 3.14808117e-01] [-7.00922456e-03 -1.39578496e-04 9.99975425e-01 -3.03206381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:0.32, Z:-0.30 [[ 9.99973899e-01 -1.68118476e-03 7.02669296e-03 4.68857088e+00] [ 1.68024100e-03 9.99998579e-01 1.40212281e-04 3.17135470e-01] [-7.02691869e-03 -1.28402083e-04 9.99975303e-01 -3.04123692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:0.32, Z:-0.30 [[ 9.99951652e-01 -5.66733197e-03 8.03588088e-03 4.72197756e+00] [ 5.66624387e-03 9.99983934e-01 1.58165593e-04 3.18334093e-01] [-8.03664816e-03 -1.12624686e-04 9.99967699e-01 -3.04280585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:0.32, Z:-0.30 [[ 9.99905318e-01 -9.52768717e-03 9.92869318e-03 4.75514608e+00] [ 9.52624539e-03 9.99954606e-01 1.92496577e-04 3.19054075e-01] [-9.93007653e-03 -9.78951833e-05 9.99950691e-01 -3.04357510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:0.32, Z:-0.30 [[ 9.99884432e-01 -1.11395734e-02 1.03456412e-02 4.78805771e+00] [ 1.11381319e-02 9.99937950e-01 1.96943377e-04 3.19053142e-01] [-1.03471931e-02 -8.16895000e-05 9.99946463e-01 -3.04911062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:0.32, Z:-0.31 [[ 9.99858339e-01 -1.29282221e-02 1.07778613e-02 4.82112775e+00] [ 1.29267704e-02 9.99916425e-01 2.04345526e-04 3.19473484e-01] [-1.07796023e-02 -6.49936397e-05 9.99941896e-01 -3.05424792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.85, Y:0.32, Z:-0.31 [[ 9.99849648e-01 -1.30864002e-02 1.13766579e-02 4.85282940e+00] [ 1.30848051e-02 9.99914367e-01 2.14632905e-04 3.20977486e-01] [-1.13784925e-02 -6.57392828e-05 9.99935261e-01 -3.06624424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:0.32, Z:-0.31 [[ 9.99856764e-01 -1.29109079e-02 1.09435191e-02 4.88435805e+00] [ 1.29094283e-02 9.99916649e-01 2.05834481e-04 3.23563870e-01] [-1.09452645e-02 -6.45304219e-05 9.99940097e-01 -3.07232278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.32, Z:-0.31 [[ 9.99863693e-01 -1.27160384e-02 1.05308213e-02 4.91700720e+00] [ 1.27146620e-02 9.99919146e-01 1.97646880e-04 3.24816742e-01] [-1.05324832e-02 -6.37241051e-05 9.99944530e-01 -3.08090199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.95, Y:0.33, Z:-0.31 [[ 9.99876065e-01 -1.23723037e-02 9.73555054e-03 4.94875189e+00] [ 1.23711109e-02 9.99923458e-01 1.82726778e-04 3.25180541e-01] [-9.73706612e-03 -6.22645559e-05 9.99952592e-01 -3.09588703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:0.32, Z:-0.31 [[ 9.99887221e-01 -1.18852160e-02 9.18081143e-03 4.98117604e+00] [ 1.18841502e-02 9.99929366e-01 1.70639531e-04 3.23554171e-01] [-9.18219104e-03 -6.15141441e-05 9.99957841e-01 -3.10546918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.01, Y:0.32, Z:-0.31 [[ 9.99890671e-01 -1.16841116e-02 9.06245480e-03 5.01374157e+00] [ 1.16830680e-02 9.99931737e-01 1.68088677e-04 3.23203523e-01] [-9.06380013e-03 -6.21930243e-05 9.99958921e-01 -3.12030658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:0.32, Z:-0.31 [[ 9.99894401e-01 -1.17111723e-02 8.60442285e-03 5.04614020e+00] [ 1.17102386e-02 9.99931420e-01 1.58897129e-04 3.24064041e-01] [-8.60569363e-03 -5.81205049e-05 9.99962969e-01 -3.12483389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:0.33, Z:-0.31 [[ 9.99898486e-01 -1.15807208e-02 8.30093122e-03 5.07802093e+00] [ 1.15798522e-02 9.99932940e-01 1.52705099e-04 3.25264056e-01] [-8.30214299e-03 -5.65660405e-05 9.99965535e-01 -3.13203575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:0.33, Z:-0.31 [[ 9.99912465e-01 -1.13121778e-02 6.86267615e-03 5.11036602e+00] [ 1.13115773e-02 9.99936014e-01 1.26303233e-04 3.25620079e-01] [-6.86366580e-03 -4.86644851e-05 9.99976444e-01 -3.14547991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:0.32, Z:-0.32 [[ 9.99919764e-01 -1.09101579e-02 6.43696156e-03 5.14285057e+00] [ 1.09096247e-02 9.99940481e-01 1.17947873e-04 3.24807959e-01] [-6.43786527e-03 -4.77135749e-05 9.99979276e-01 -3.15343974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.18, Y:0.32, Z:-0.32 [[ 9.99928593e-01 -9.65553779e-03 7.04132527e-03 5.17535925e+00] [ 9.65487146e-03 9.99953382e-01 1.28618039e-04 3.23759051e-01] [-7.04223890e-03 -6.06257643e-05 9.99975201e-01 -3.15791434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:0.33, Z:-0.32 [[ 9.99927162e-01 -9.70236477e-03 7.17873201e-03 5.20780073e+00] [ 9.70167600e-03 9.99952929e-01 1.30763135e-04 3.25082174e-01] [-7.17966281e-03 -6.11078788e-05 9.99974224e-01 -3.16589704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.33, Z:-0.32 [[ 9.99926661e-01 -9.40201608e-03 7.63379213e-03 5.24007834e+00] [ 9.40123183e-03 9.99955798e-01 1.38612422e-04 3.25840530e-01] [-7.63475794e-03 -6.68352070e-05 9.99970853e-01 -3.16991157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:0.33, Z:-0.32 [[ 9.99935680e-01 -8.62124206e-03 7.36951110e-03 5.27093350e+00] [ 8.62049372e-03 9.99962834e-01 1.33304461e-04 3.25287069e-01] [-7.37038646e-03 -6.97670627e-05 9.99972836e-01 -3.18543273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.30, Y:0.32, Z:-0.32 [[ 9.99947109e-01 -7.90031007e-03 6.58516112e-03 5.30341820e+00] [ 7.89969665e-03 9.99968790e-01 1.19158354e-04 3.23800160e-01] [-6.58589698e-03 -6.71312760e-05 9.99978310e-01 -3.20357564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:0.32, Z:-0.32 [[ 9.99960141e-01 -6.68605033e-03 5.91712677e-03 5.33561556e+00] [ 6.68553474e-03 9.99977646e-01 1.06911264e-04 3.19525892e-01] [-5.91770931e-03 -6.73478460e-05 9.99982488e-01 -3.23097814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:0.32, Z:-0.32 [[ 9.99963032e-01 -5.72721546e-03 6.41357680e-03 5.36650906e+00] [ 5.72658915e-03 9.99983596e-01 1.16013506e-04 3.20154045e-01] [-6.41413602e-03 -7.92812976e-05 9.99979426e-01 -3.22781849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:0.32, Z:-0.32 [[ 9.99962128e-01 -5.41741583e-03 6.81130726e-03 5.39861932e+00] [ 5.41671049e-03 9.99985322e-01 1.21998118e-04 3.22172501e-01] [-6.81186820e-03 -8.50986182e-05 9.99976795e-01 -3.22719250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:0.32, Z:-0.32 [[ 9.99961308e-01 -5.37011623e-03 6.96742845e-03 5.43053940e+00] [ 5.36937936e-03 9.99985577e-01 1.24460301e-04 3.23548677e-01] [-6.96799633e-03 -8.70447185e-05 9.99975719e-01 -3.23442121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:0.32, Z:-0.32 [[ 9.99962735e-01 -5.16019767e-03 6.92108786e-03 5.46198832e+00] [ 5.15946918e-03 9.99986682e-01 1.23106730e-04 3.22332615e-01] [-6.92163094e-03 -8.73930027e-05 9.99976041e-01 -3.24974219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:0.32, Z:-0.33 [[ 9.99955395e-01 -4.26438671e-03 8.42746350e-03 5.49298494e+00] [ 4.26327896e-03 9.99990901e-01 1.49405407e-04 3.20528028e-01] [-8.42802394e-03 -1.13470115e-04 9.99964477e-01 -3.25143989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:0.32, Z:-0.32 [[ 9.99941869e-01 -2.63626837e-03 1.04550474e-02 5.52520971e+00] [ 2.63447901e-03 9.99996513e-01 1.84916893e-04 3.20732038e-01] [-1.04554984e-02 -1.57362541e-04 9.99945327e-01 -3.24846053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.32, Z:-0.33 [[ 9.99947476e-01 -2.08056366e-03 1.00357768e-02 5.55798169e+00] [ 2.07888781e-03 9.99997823e-01 1.77416274e-04 3.21330869e-01] [-1.00361241e-02 -1.56543702e-04 9.99949625e-01 -3.25687735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.32, Z:-0.33 [[ 9.99958920e-01 -1.65908859e-03 8.91101271e-03 5.59020979e+00] [ 1.65775630e-03 9.99998614e-01 1.56894521e-04 3.24119449e-01] [-8.91126066e-03 -1.42115789e-04 9.99960284e-01 -3.27170005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.33, Z:-0.33 [[ 9.99961349e-01 -2.29029895e-03 8.48853387e-03 5.62196470e+00] [ 2.28911691e-03 9.99997369e-01 1.48964611e-04 3.26179018e-01] [-8.48885270e-03 -1.29527607e-04 9.99963961e-01 -3.28316252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.66, Y:0.33, Z:-0.33 [[ 9.99962062e-01 -4.56780060e-03 7.41690269e-03 5.65512255e+00] [ 4.56694773e-03 9.99989563e-01 1.31922320e-04 3.25810686e-01] [-7.41742787e-03 -9.80447085e-05 9.99972486e-01 -3.30137139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.69, Y:0.33, Z:-0.33 [[ 9.99959434e-01 -5.99329956e-03 6.72388025e-03 5.68830500e+00] [ 5.99264940e-03 9.99982037e-01 1.16837389e-04 3.26136533e-01] [-6.72445972e-03 -7.65387925e-05 9.99977388e-01 -3.31149601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.72, Y:0.33, Z:-0.33 [[ 9.99950437e-01 -8.06033696e-03 5.84417999e-03 5.71990494e+00] [ 8.05988350e-03 9.99967513e-01 1.01139260e-04 3.28553602e-01] [-5.84480535e-03 -5.40308373e-05 9.99982918e-01 -3.31913429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.75, Y:0.33, Z:-0.33 [[ 9.99931614e-01 -8.44046374e-03 8.09475704e-03 5.75216940e+00] [ 8.43961596e-03 9.99964376e-01 1.38885661e-04 3.29294096e-01] [-8.09564094e-03 -7.05595221e-05 9.99967227e-01 -3.31323116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.78, Y:0.33, Z:-0.33 [[ 9.99921022e-01 -8.03760730e-03 9.66165250e-03 5.78395172e+00] [ 8.03638704e-03 9.99967694e-01 1.65116632e-04 3.31239667e-01] [-9.66266752e-03 -8.74588122e-05 9.99953312e-01 -3.31573657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.82, Y:0.34, Z:-0.33 [[ 9.99920894e-01 -6.83474056e-03 1.05589847e-02 5.81701579e+00] [ 6.83321912e-03 9.99976637e-01 1.80160290e-04 3.36824059e-01] [-1.05599694e-02 -1.07994182e-04 9.99944236e-01 -3.32185872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.85, Y:0.34, Z:-0.33 [[ 9.99933817e-01 -5.88114139e-03 9.88804117e-03 5.84910621e+00] [ 5.87976791e-03 9.99982700e-01 1.67967947e-04 3.39240713e-01] [-9.88885795e-03 -1.09817443e-04 9.99951098e-01 -3.33315843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.88, Y:0.34, Z:-0.33 [[ 9.99940102e-01 -5.23125465e-03 9.61386226e-03 5.88235793e+00] [ 5.22992949e-03 9.99986311e-01 1.62973186e-04 3.42551478e-01] [-9.61458320e-03 -1.12683603e-04 9.99953772e-01 -3.33822443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.91, Y:0.35, Z:-0.33 [[ 9.99947287e-01 -5.02050587e-03 8.95639106e-03 5.91435337e+00] [ 5.01935363e-03 9.99987392e-01 1.51123793e-04 3.50014180e-01] [-8.95703685e-03 -1.06160533e-04 9.99959879e-01 -3.34222500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:0.35, Z:-0.34 [[ 9.99947892e-01 -5.13247047e-03 8.82449033e-03 5.94685396e+00] [ 5.13135963e-03 9.99986823e-01 1.48517756e-04 3.52553407e-01] [-8.82513631e-03 -1.03228383e-04 9.99961052e-01 -3.35539983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.36, Z:-0.34 [[ 9.99942335e-01 -6.71553986e-03 8.38023347e-03 5.98006244e+00] [ 6.71459763e-03 9.99977447e-01 1.40564967e-04 3.55889642e-01] [-8.38098844e-03 -8.42869659e-05 9.99964875e-01 -3.36622649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.36, Z:-0.34 [[ 9.99920593e-01 -8.19238369e-03 9.57562471e-03 6.01158307e+00] [ 8.19123152e-03 9.99966439e-01 1.59537297e-04 3.57505714e-01] [-9.57661033e-03 -8.10884701e-05 9.99954140e-01 -3.37705444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:6.04, Y:0.36, Z:-0.34 [[ 9.99877653e-01 -1.07800025e-02 1.13345114e-02 6.04422738e+00] [ 1.07785631e-02 9.99941892e-01 1.88072698e-04 3.59470110e-01] [-1.13358802e-02 -6.58799423e-05 9.99935745e-01 -3.38360892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.08, Y:0.36, Z:-0.34 [[ 9.99869634e-01 -1.19524775e-02 1.08560035e-02 6.07765803e+00] [ 1.19512338e-02 9.99928565e-01 1.79429431e-04 3.61412108e-01] [-1.08573726e-02 -4.96634037e-05 9.99941056e-01 -3.39237027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:0.37, Z:-0.34 [[ 9.99844429e-01 -1.46067283e-02 9.88740323e-03 6.10957987e+00] [ 1.46058335e-02 9.99893316e-01 1.62702749e-04 3.68149637e-01] [-9.88872495e-03 -1.82636718e-05 9.99951105e-01 -3.39836200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:0.37, Z:-0.34 [[ 9.99793125e-01 -1.77623508e-02 9.90985929e-03 6.14275444e+00] [ 1.77616117e-02 9.99842237e-01 1.62591101e-04 3.73813160e-01] [-9.91118388e-03 1.34576077e-05 9.99950883e-01 -3.40854934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.38, Z:-0.34 [[ 9.99759380e-01 -1.96109872e-02 9.82810686e-03 6.17539323e+00] [ 1.96103552e-02 9.99807686e-01 1.60679234e-04 3.75783582e-01] [-9.82936785e-03 3.20920949e-05 9.99951690e-01 -3.41452903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:0.38, Z:-0.34 [[ 9.99697486e-01 -2.25805010e-02 9.74972092e-03 6.20707869e+00] [ 2.25800215e-02 9.99745026e-01 1.59271889e-04 3.77037857e-01] [-9.75083144e-03 6.09252009e-05 9.99952458e-01 -3.42097773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.38, Z:-0.34 [[ 9.99668056e-01 -2.36738159e-02 1.01650334e-02 6.24013997e+00] [ 2.36733696e-02 9.99719733e-01 1.64235321e-04 3.77856059e-01] [-1.01660725e-02 7.64597882e-05 9.99948321e-01 -3.42316266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.27, Y:0.38, Z:-0.34 [[ 9.99603692e-01 -2.60104516e-02 1.07664178e-02 6.27220938e+00] [ 2.60100975e-02 9.99661665e-01 1.72931281e-04 3.79200009e-01] [-1.07672732e-02 1.07172830e-04 9.99942025e-01 -3.43489403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.38, Z:-0.34 [[ 9.99545673e-01 -2.82414029e-02 1.05294865e-02 6.30471092e+00] [ 2.82411927e-02 9.99601124e-01 1.68687112e-04 3.79029004e-01] [-1.05300505e-02 1.28754784e-04 9.99944549e-01 -3.44995648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.34, Y:0.38, Z:-0.34 [[ 9.99510022e-01 -2.89399781e-02 1.19244947e-02 6.33718365e+00] [ 2.89397727e-02 9.99581139e-01 1.89816965e-04 3.79155075e-01] [-1.19249933e-02 1.55368209e-04 9.99928883e-01 -3.44770429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174203821999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.37, Y:0.38, Z:-0.34 [[ 9.99512347e-01 -2.88078772e-02 1.20488729e-02 6.37061425e+00] [ 2.88076653e-02 9.99584955e-01 1.91176486e-04 3.80360465e-01] [-1.20493795e-02 1.56016642e-04 9.99927391e-01 -3.44918775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:0.38, Z:-0.35 [[ 9.99554112e-01 -2.78689278e-02 1.07191353e-02 6.40407822e+00] [ 2.78687122e-02 9.99611578e-01 1.69512339e-04 3.81414725e-01] [-1.07196959e-02 1.29291742e-04 9.99942534e-01 -3.45865913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:0.38, Z:-0.35 [[ 9.99680325e-01 -2.38056905e-02 8.51683325e-03 6.43625894e+00] [ 2.38054093e-02 9.99716602e-01 1.34412835e-04 3.82841402e-01] [-8.51761939e-03 6.83768342e-05 9.99963722e-01 -3.47219901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.38, Z:-0.35 [[ 9.99736513e-01 -2.13935182e-02 8.31995380e-03 6.46798858e+00] [ 2.13931652e-02 9.99771131e-01 1.31424047e-04 3.82714338e-01] [-8.32086125e-03 4.66007281e-05 9.99965380e-01 -3.48322614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.50, Y:0.38, Z:-0.35 [[ 9.99737738e-01 -2.13361733e-02 8.31998180e-03 6.50065688e+00] [ 2.13358334e-02 9.99772357e-01 1.29616531e-04 3.83127055e-01] [-8.32085334e-03 4.79312087e-05 9.99965380e-01 -3.49074078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.53, Y:0.38, Z:-0.35 [[ 9.99816645e-01 -1.67618668e-02 9.25826608e-03 6.53258080e+00] [ 1.67612575e-02 9.99859510e-01 1.43413649e-04 3.82382975e-01] [-9.25936927e-03 1.17928277e-05 9.99957131e-01 -3.49292740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.56, Y:0.38, Z:-0.35 [[ 9.99845113e-01 -1.48202383e-02 9.49261998e-03 6.56435645e+00] [ 1.48195056e-02 9.99890174e-01 1.47522983e-04 3.82899837e-01] [-9.49376377e-03 -6.82419813e-06 9.99954933e-01 -3.50319023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:0.38, Z:-0.35 [[ 9.99888766e-01 -1.13589023e-02 9.66597189e-03 6.59604625e+00] [ 1.13580016e-02 9.99935485e-01 1.48077284e-04 3.83936190e-01] [-9.66703028e-03 -3.82746890e-05 9.99953272e-01 -3.50603796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.39, Z:-0.35 [[ 9.99911016e-01 -7.50406934e-03 1.10294982e-02 6.62717087e+00] [ 7.50267088e-03 9.99971840e-01 1.68164871e-04 3.85635195e-01] [-1.10304495e-02 -8.53992121e-05 9.99939159e-01 -3.50964452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.39, Z:-0.35 [[ 9.99919885e-01 -5.76584608e-03 1.12684604e-02 6.66040107e+00] [ 5.76427542e-03 9.99983372e-01 1.71858785e-04 3.86068716e-01] [-1.12692639e-02 -1.06890507e-04 9.99936494e-01 -3.51887227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.38, Z:-0.35 [[ 9.99936666e-01 -3.70592851e-03 1.06268655e-02 6.69245015e+00] [ 3.70441623e-03 9.99993126e-01 1.61987974e-04 3.84118360e-01] [-1.06273927e-02 -1.22611382e-04 9.99943520e-01 -3.53216300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.73, Y:0.38, Z:-0.35 [[ 9.99936104e-01 -3.21512316e-03 1.08374571e-02 6.72591163e+00] [ 3.21354299e-03 9.99994823e-01 1.63216979e-04 3.83358921e-01] [-1.08379258e-02 -1.28379915e-04 9.99941260e-01 -3.54048747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.76, Y:0.38, Z:-0.35 [[ 9.99916782e-01 -3.38759038e-03 1.24480071e-02 6.75801060e+00] [ 3.38553482e-03 9.99994252e-01 1.86200915e-04 3.82922916e-01] [-1.24485663e-02 -1.44042259e-04 9.99922503e-01 -3.53738790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:0.38, Z:-0.35 [[ 9.99900090e-01 -5.23713131e-03 1.31294355e-02 6.79071320e+00] [ 5.23499807e-03 9.99986278e-01 1.96840666e-04 3.80866379e-01] [-1.31302863e-02 -1.28088430e-04 9.99913786e-01 -3.54322635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:0.38, Z:-0.35 [[ 9.99893574e-01 -6.34662836e-03 1.31362408e-02 6.82406191e+00] [ 6.34463724e-03 9.99979854e-01 1.93243130e-04 3.80102851e-01] [-1.31372026e-02 -1.09877881e-04 9.99913697e-01 -3.54744081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:0.38, Z:-0.35 [[ 9.99867608e-01 -8.15509587e-03 1.40804938e-02 6.85606777e+00] [ 8.15300489e-03 9.99966743e-01 2.05898946e-04 3.77931735e-01] [-1.40817047e-02 -9.10733518e-05 9.99900844e-01 -3.54856130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.89, Y:0.38, Z:-0.36 [[ 9.99860421e-01 -8.88648560e-03 1.41481018e-02 6.88931277e+00] [ 8.88445833e-03 9.99960511e-01 2.06136743e-04 3.76933935e-01] [-1.41493750e-02 -8.04097492e-05 9.99899889e-01 -3.55796392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.92, Y:0.37, Z:-0.36 [[ 9.99854350e-01 -9.65685924e-03 1.40721045e-02 6.92113668e+00] [ 9.65494528e-03 9.99953369e-01 2.03941929e-04 3.74057854e-01] [-1.40734177e-02 -6.80468262e-05 9.99900962e-01 -3.57354280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.95, Y:0.37, Z:-0.36 [[ 9.99859543e-01 -9.27447948e-03 1.39599013e-02 6.95454724e+00] [ 9.27256846e-03 9.99956988e-01 2.01613581e-04 3.70260387e-01] [-1.39611708e-02 -7.21411223e-05 9.99902536e-01 -3.58050564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.99, Y:0.37, Z:-0.36 [[ 9.99864850e-01 -8.36823972e-03 1.41511339e-02 6.98675163e+00] [ 8.36619382e-03 9.99964982e-01 2.03768593e-04 3.69897561e-01] [-1.41523436e-02 -8.53499245e-05 9.99899847e-01 -3.58368615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.02, Y:0.37, Z:-0.36 [[ 9.99865264e-01 -6.77568692e-03 1.49513787e-02 7.01847204e+00] [ 6.77326033e-03 9.99977039e-01 2.12930516e-04 3.69631391e-01] [-1.49524781e-02 -1.11632246e-04 9.99888199e-01 -3.59497746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.37, Z:-0.36 [[ 9.99869561e-01 -6.58892249e-03 1.47460578e-02 7.05143022e+00] [ 6.58655264e-03 9.99978287e-01 2.09270973e-04 3.68987720e-01] [-1.47471165e-02 -1.12117990e-04 9.99891249e-01 -3.60384938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.36, Z:-0.36 [[ 9.99879749e-01 -7.19540850e-03 1.37372736e-02 7.08297364e+00] [ 7.19342212e-03 9.99974108e-01 1.94003929e-04 3.64989359e-01] [-1.37383138e-02 -9.51625917e-05 9.99905620e-01 -3.62202617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:0.36, Z:-0.36 [[ 9.99871318e-01 -8.18824170e-03 1.37949300e-02 7.11643888e+00] [ 8.18634267e-03 9.99966472e-01 1.94124157e-04 3.63054649e-01] [-1.37960570e-02 -8.11691528e-05 9.99904827e-01 -3.63322524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:0.36, Z:-0.36 [[ 9.99860160e-01 -1.06663786e-02 1.28797730e-02 7.14988998e+00] [ 1.06649383e-02 9.99943112e-01 1.80506680e-04 3.60600612e-01] [-1.28809656e-02 -4.31194543e-05 9.99917036e-01 -3.64117977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.18, Y:0.36, Z:-0.36 [[ 9.99856892e-01 -1.15630999e-02 1.23486600e-02 7.18158644e+00] [ 1.15618560e-02 9.99933145e-01 1.72118803e-04 3.61356987e-01] [-1.23498247e-02 -2.93207432e-05 9.99923738e-01 -3.64602014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.21, Y:0.36, Z:-0.36 [[ 9.99873825e-01 -1.18421520e-02 1.05876212e-02 7.21446325e+00] [ 1.18412561e-02 9.99929879e-01 1.47303461e-04 3.62750361e-01] [-1.05886232e-02 -2.19141409e-05 9.99943939e-01 -3.64716810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:0.36, Z:-0.37 [[ 9.99892370e-01 -1.06802199e-02 1.00588986e-02 7.24650739e+00] [ 1.06793529e-02 9.99942964e-01 1.39895807e-04 3.58984668e-01] [-1.00598190e-02 -3.24582224e-05 9.99949398e-01 -3.65380988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:0.36, Z:-0.37 [[ 9.99896379e-01 -9.73310285e-03 1.06064812e-02 7.27984420e+00] [ 9.73210722e-03 9.99952631e-01 1.45480240e-04 3.57083077e-01] [-1.06073947e-02 -4.22417534e-05 9.99943739e-01 -3.66235087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:0.36, Z:-0.37 [[ 9.99906200e-01 -7.07070252e-03 1.17301739e-02 7.31254955e+00] [ 7.06931320e-03 9.99974999e-01 1.59899701e-04 3.55056111e-01] [-1.17310112e-02 -7.69604296e-05 9.99931186e-01 -3.66893785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.35, Y:0.36, Z:-0.37 [[ 9.99907593e-01 -4.59773166e-03 1.27931980e-02 7.34598506e+00] [ 4.59589017e-03 9.99989424e-01 1.73338586e-04 3.57088011e-01] [-1.27938596e-02 -1.14526435e-04 9.99918149e-01 -3.67500136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.38, Y:0.36, Z:-0.37 [[ 9.99906947e-01 -4.08330837e-03 1.30162842e-02 7.37885914e+00] [ 4.08137088e-03 9.99991656e-01 1.75411677e-04 3.59518333e-01] [-1.30168919e-02 -1.22271071e-04 9.99915269e-01 -3.67698465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.41, Y:0.36, Z:-0.37 [[ 9.99893314e-01 -4.44096634e-03 1.39154343e-02 7.41211581e+00] [ 4.43880170e-03 9.99990131e-01 1.86438852e-04 3.61973407e-01] [-1.39161249e-02 -1.24651108e-04 9.99903158e-01 -3.68229777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.36, Z:-0.37 [[ 9.99892285e-01 -5.15148321e-03 1.37434156e-02 7.44493454e+00] [ 5.14945179e-03 9.99986725e-01 1.83193409e-04 3.61136838e-01] [-1.37441769e-02 -1.12402620e-04 9.99905538e-01 -3.68566337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.48, Y:0.36, Z:-0.37 [[ 9.99869767e-01 -7.40689673e-03 1.43382844e-02 7.47784355e+00] [ 7.40493342e-03 9.99972565e-01 1.90013658e-04 3.56320871e-01] [-1.43392985e-02 -8.38148701e-05 9.99897183e-01 -3.69950683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.51, Y:0.36, Z:-0.37 [[ 9.99853302e-01 -8.96865382e-03 1.45923783e-02 7.50995988e+00] [ 8.96678940e-03 9.99959779e-01 1.93190250e-04 3.55425078e-01] [-1.45935241e-02 -6.23151257e-05 9.99893507e-01 -3.70573925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.54, Y:0.36, Z:-0.37 [[ 9.99829723e-01 -1.16416567e-02 1.43177287e-02 7.54272141e+00] [ 1.16401857e-02 9.99932233e-01 1.86078562e-04 3.58141080e-01] [-1.43189247e-02 -1.93858562e-05 9.99897479e-01 -3.71581179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.36, Z:-0.37 [[ 9.99814895e-01 -1.34450107e-02 1.37625633e-02 7.57607374e+00] [ 1.34438352e-02 9.99909612e-01 1.77931540e-04 3.57947402e-01] [-1.37637116e-02 7.12302820e-06 9.99905276e-01 -3.73660488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:0.36, Z:-0.37 [[ 9.99814545e-01 -1.39872488e-02 1.32375044e-02 7.60805137e+00] [ 1.39862221e-02 9.99902174e-01 1.70132757e-04 3.57709081e-01] [-1.32385892e-02 1.50414728e-05 9.99912366e-01 -3.74637175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:0.36, Z:-0.38 [[ 9.99815118e-01 -1.50261567e-02 1.19977014e-02 7.64072108e+00] [ 1.50253936e-02 9.99887101e-01 1.53743011e-04 3.55852659e-01] [-1.19986571e-02 2.65555995e-05 9.99928013e-01 -3.75626220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:0.35, Z:-0.38 [[ 9.99803847e-01 -1.52856070e-02 1.25943357e-02 7.67296388e+00] [ 1.52848009e-02 9.99883168e-01 1.60264568e-04 3.54753578e-01] [-1.25953140e-02 3.22687812e-05 9.99920675e-01 -3.76230310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.71, Y:0.36, Z:-0.38 [[ 9.99816826e-01 -1.44890439e-02 1.25052749e-02 7.70577886e+00] [ 1.44881947e-02 9.99895028e-01 1.58503952e-04 3.55305966e-01] [-1.25062588e-02 2.27039395e-05 9.99921793e-01 -3.76027091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.74, Y:0.36, Z:-0.38 [[ 9.99839181e-01 -1.34345778e-02 1.18795487e-02 7.73905539e+00] [ 1.34337460e-02 9.99909752e-01 1.49812582e-04 3.56336281e-01] [-1.18804893e-02 9.79835204e-06 9.99929424e-01 -3.77063842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.77, Y:0.36, Z:-0.38 [[ 9.99869999e-01 -1.12446016e-02 1.15561145e-02 7.77169303e+00] [ 1.12436771e-02 9.99936777e-01 1.44974206e-04 3.55576331e-01] [-1.15570141e-02 -1.50221396e-05 9.99933215e-01 -3.78724931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:0.35, Z:-0.38 [[ 9.99868422e-01 -1.02350455e-02 1.25850040e-02 7.80328258e+00] [ 1.02338839e-02 9.99947620e-01 1.56699121e-04 3.54792218e-01] [-1.25859486e-02 -2.78850327e-05 9.99920793e-01 -3.79715867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:0.36, Z:-0.38 [[ 9.99862810e-01 -9.46445187e-03 1.35935920e-02 7.83486642e+00] [ 9.46303809e-03 9.99955210e-01 1.68322932e-04 3.56014612e-01] [-1.35945762e-02 -3.96631608e-05 9.99907589e-01 -3.79799914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.87, Y:0.36, Z:-0.38 [[ 9.99868462e-01 -9.24325467e-03 1.33274471e-02 7.86691240e+00] [ 9.24188628e-03 9.99957279e-01 1.64260088e-04 3.59062009e-01] [-1.33283960e-02 -4.10677308e-05 9.99911172e-01 -3.80061255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.90, Y:0.36, Z:-0.38 [[ 9.99871023e-01 -9.10434645e-03 1.32306143e-02 7.89914598e+00] [ 9.10299587e-03 9.99958554e-01 1.62298906e-04 3.59635045e-01] [-1.32315436e-02 -4.18397452e-05 9.99912458e-01 -3.81016360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.93, Y:0.36, Z:-0.38 [[ 9.99878302e-01 -9.03748310e-03 1.27163192e-02 7.93193343e+00] [ 9.03623679e-03 9.99959160e-01 1.55462105e-04 3.59602579e-01] [-1.27172048e-02 -4.05355146e-05 9.99919132e-01 -3.83363157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.96, Y:0.36, Z:-0.38 [[ 9.99881329e-01 -8.85244942e-03 1.26080167e-02 7.96439490e+00] [ 8.85122260e-03 9.99960815e-01 1.53102784e-04 3.59015495e-01] [-1.26088780e-02 -4.14882527e-05 9.99920504e-01 -3.84972710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.36, Z:-0.39 [[ 9.99900779e-01 -7.68904222e-03 1.18030091e-02 7.99701158e+00] [ 7.68789251e-03 9.99970438e-01 1.42777671e-04 3.61154428e-01] [-1.18037580e-02 -5.20232390e-05 9.99930332e-01 -3.85532126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.37, Z:-0.39 [[ 9.99909208e-01 -6.83745409e-03 1.16113971e-02 8.02867172e+00] [ 6.83629435e-03 9.99976623e-01 1.39567212e-04 3.65284692e-01] [-1.16120799e-02 -6.01756119e-05 9.99932576e-01 -3.86317077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.06, Y:0.37, Z:-0.39 [[ 9.99924490e-01 -5.32184362e-03 1.10766967e-02 8.06189805e+00] [ 5.32070011e-03 9.99985836e-01 1.32701663e-04 3.71487277e-01] [-1.10772461e-02 -7.37558613e-05 9.99938643e-01 -3.88249265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:0.37, Z:-0.39 [[ 9.99926827e-01 -5.34292097e-03 1.08532511e-02 8.09526170e+00] [ 5.34183130e-03 9.99985724e-01 1.29386400e-04 3.72481440e-01] [-1.08537875e-02 -7.14006960e-05 9.99941093e-01 -3.88655340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:0.37, Z:-0.39 [[ 9.99918676e-01 -5.70767675e-03 1.14045089e-02 8.12834042e+00] [ 5.70650723e-03 9.99983709e-01 1.35087853e-04 3.74174657e-01] [-1.14050942e-02 -6.99969544e-05 9.99934957e-01 -3.89298147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.38, Z:-0.39 [[ 9.99899606e-01 -7.43305059e-03 1.20635190e-02 8.15990343e+00] [ 7.43188124e-03 9.99972373e-01 1.41759592e-04 3.78288731e-01] [-1.20642395e-02 -5.20907198e-05 9.99927223e-01 -3.89748862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.38, Z:-0.39 [[ 9.99886229e-01 -8.72114643e-03 1.23073353e-02 8.19306312e+00] [ 8.72003536e-03 9.99961969e-01 1.43937316e-04 3.79961567e-01] [-1.23081225e-02 -3.66005415e-05 9.99924252e-01 -3.90317822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:0.38, Z:-0.39 [[ 9.99821764e-01 -1.18843507e-02 1.46697757e-02 8.22642069e+00] [ 1.18831321e-02 9.99929379e-01 1.70232583e-04 3.83585576e-01] [-1.46707628e-02 4.12064133e-06 9.99892379e-01 -3.90668759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.26, Y:0.39, Z:-0.39 [[ 9.99780677e-01 -1.37915421e-02 1.57604640e-02 8.25794420e+00] [ 1.37903938e-02 9.99904892e-01 1.81538326e-04 3.85374186e-01] [-1.57614687e-02 3.58444948e-05 9.99875780e-01 -3.90886779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:0.38, Z:-0.39 [[ 9.99710736e-01 -1.70293131e-02 1.69837205e-02 8.28952587e+00] [ 1.70284538e-02 9.99854986e-01 1.95216608e-04 3.84813517e-01] [-1.69845821e-02 9.40463619e-05 9.99855747e-01 -3.91241048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:0.38, Z:-0.39 [[ 9.99692387e-01 -1.81578510e-02 1.68944648e-02 8.32114102e+00] [ 1.81572186e-02 9.99835126e-01 1.90837343e-04 3.84849011e-01] [-1.68951445e-02 1.15977850e-04 9.99857260e-01 -3.92010092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:0.39, Z:-0.39 [[ 9.99681160e-01 -1.87583501e-02 1.69027668e-02 8.35366581e+00] [ 1.87578403e-02 9.99824038e-01 1.88715536e-04 3.86671986e-01] [-1.69033326e-02 1.28404035e-04 9.99857120e-01 -3.92880262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:0.39, Z:-0.39 [[ 9.99734292e-01 -1.70295821e-02 1.55350519e-02 8.38693713e+00] [ 1.70289567e-02 9.99854982e-01 1.72547901e-04 3.86878577e-01] [-1.55357374e-02 9.20436724e-05 9.99879309e-01 -3.94727819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.42, Y:0.39, Z:-0.40 [[ 9.99804732e-01 -1.40335842e-02 1.39124423e-02 8.41894607e+00] [ 1.40328057e-02 9.99901524e-01 1.53579770e-04 3.90136019e-01] [-1.39132276e-02 4.16808188e-05 9.99903205e-01 -3.96014753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.39, Z:-0.40 [[ 9.99820820e-01 -1.23954372e-02 1.43066738e-02 8.45108576e+00] [ 1.23944591e-02 9.99923173e-01 1.57030542e-04 3.92826644e-01] [-1.43075211e-02 2.03210785e-05 9.99897642e-01 -3.96516643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.48, Y:0.40, Z:-0.40 [[ 9.99840820e-01 -9.81540007e-03 1.48994462e-02 8.48403311e+00] [ 9.81406567e-03 9.99951828e-01 1.62675890e-04 3.97221931e-01] [-1.49003252e-02 -1.64258515e-05 9.99888984e-01 -3.96516771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.52, Y:0.40, Z:-0.40 [[ 9.99841984e-01 -9.69600830e-03 1.48994529e-02 8.51755036e+00] [ 9.69466971e-03 9.99952992e-01 1.62067081e-04 3.97424606e-01] [-1.49003239e-02 -1.75961973e-05 9.99888984e-01 -3.97287870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.55, Y:0.40, Z:-0.40 [[ 9.99850591e-01 -8.76881461e-03 1.48964276e-02 8.55020434e+00] [ 8.76740597e-03 9.99961553e-01 1.59865446e-04 3.99323095e-01] [-1.48972567e-02 -2.92385324e-05 9.99889029e-01 -3.97727306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.58, Y:0.40, Z:-0.40 [[ 9.99862317e-01 -7.45693966e-03 1.48237000e-02 8.58218172e+00] [ 7.45541762e-03 9.99972196e-01 1.57935773e-04 4.00080183e-01] [-1.48244656e-02 -4.73971542e-05 9.99890110e-01 -4.00236953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:0.40, Z:-0.40 [[ 9.99862213e-01 -7.13904779e-03 1.49863008e-02 8.61556235e+00] [ 7.13746838e-03 9.99974515e-01 1.58873446e-04 3.99891180e-01] [-1.49870530e-02 -5.18873072e-05 9.99887686e-01 -4.01480805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:0.40, Z:-0.40 [[ 9.99857273e-01 -7.10750420e-03 1.53269885e-02 8.64750077e+00] [ 7.10586747e-03 9.99974740e-01 1.61244789e-04 4.02461211e-01] [-1.53277474e-02 -5.23102253e-05 9.99882522e-01 -4.02631003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:8.68, Y:0.40, Z:-0.40 [[ 9.99853328e-01 -7.56907539e-03 1.53633224e-02 8.67937686e+00] [ 7.56749973e-03 9.99971353e-01 1.60692099e-04 4.03879010e-01] [-1.53640985e-02 -4.44065926e-05 9.99881964e-01 -4.03892965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.71, Y:0.40, Z:-0.41 [[ 9.99845848e-01 -9.37434638e-03 1.48459126e-02 8.71227023e+00] [ 9.37308494e-03 9.99956060e-01 1.54548068e-04 4.03682734e-01] [-1.48467090e-02 -1.53722450e-05 9.99889781e-01 -4.05408830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:8.75, Y:0.41, Z:-0.41 [[ 9.99836575e-01 -1.23125293e-02 1.32372223e-02 8.74541315e+00] [ 1.23117937e-02 9.99924198e-01 1.37065933e-04 4.05568601e-01] [-1.32379065e-02 2.59304160e-05 9.99912375e-01 -4.05988276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.78, Y:0.41, Z:-0.41 [[ 9.99818743e-01 -1.37434204e-02 1.31757245e-02 8.77753482e+00] [ 1.37428223e-02 9.99905554e-01 1.35935662e-04 4.06890227e-01] [-1.31763483e-02 4.51606186e-05 9.99913187e-01 -4.07121200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:0.40, Z:-0.41 [[ 9.99785630e-01 -1.59355160e-02 1.32193995e-02 8.81039624e+00] [ 1.59351338e-02 9.99873019e-01 1.34256304e-04 4.04412854e-01] [-1.32198604e-02 7.64253763e-05 9.99912611e-01 -4.09167570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:0.40, Z:-0.41 [[ 9.99772557e-01 -1.66416460e-02 1.33375351e-02 8.84390977e+00] [ 1.66413320e-02 9.99861514e-01 1.34535425e-04 4.01806014e-01] [-1.33379269e-02 8.74495233e-05 9.99911042e-01 -4.10074590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.88, Y:0.40, Z:-0.41 [[ 9.99750874e-01 -1.76439007e-02 1.36705278e-02 8.87555876e+00] [ 1.76436726e-02 9.99844329e-01 1.37298377e-04 4.01486292e-01] [-1.36708221e-02 1.03934144e-04 9.99906545e-01 -4.10035635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.91, Y:0.40, Z:-0.41 [[ 9.99781473e-01 -1.74625768e-02 1.14919016e-02 8.90878076e+00] [ 1.74624213e-02 9.99847514e-01 1.13878086e-04 4.04657679e-01] [-1.14921378e-02 8.68232263e-05 9.99933959e-01 -4.11028410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.94, Y:0.40, Z:-0.41 [[ 9.99794604e-01 -1.71825059e-02 1.07476238e-02 8.94155987e+00] [ 1.71823608e-02 9.99852367e-01 1.05848290e-04 4.03878387e-01] [-1.07478559e-02 7.88430010e-05 9.99942237e-01 -4.12021726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.97, Y:0.40, Z:-0.41 [[ 9.99798410e-01 -1.67297866e-02 1.11019426e-02 8.97359489e+00] [ 1.67296147e-02 9.99860044e-01 1.08357850e-04 4.01882470e-01] [-1.11022017e-02 7.73952165e-05 9.99938366e-01 -4.13261226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.01, Y:0.40, Z:-0.41 [[ 9.99803530e-01 -1.52429256e-02 1.26709763e-02 9.00673769e+00] [ 1.52425926e-02 9.99883817e-01 1.22857493e-04 3.97610863e-01] [-1.26713769e-02 7.03051751e-05 9.99919712e-01 -4.14639978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.04, Y:0.40, Z:-0.42 [[ 9.99803149e-01 -1.38245792e-02 1.42318059e-02 9.04022647e+00] [ 1.38240323e-02 9.99904434e-01 1.36805153e-04 3.95278595e-01] [-1.42323371e-02 5.99627217e-05 9.99898713e-01 -4.15152113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.07, Y:0.40, Z:-0.42 [[ 9.99808149e-01 -1.31938352e-02 1.44771185e-02 9.07202971e+00] [ 1.31932195e-02 9.99912956e-01 1.38037289e-04 3.95931816e-01] [-1.44776796e-02 5.29889959e-05 9.99895192e-01 -4.15448610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.10, Y:0.40, Z:-0.42 [[ 9.99828397e-01 -1.19515068e-02 1.41541152e-02 9.10462865e+00] [ 1.19508031e-02 9.99928578e-01 1.34301822e-04 3.98692582e-01] [-1.41547094e-02 3.48742687e-05 9.99899816e-01 -4.15986211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:0.40, Z:-0.42 [[ 9.99843123e-01 -1.11220023e-02 1.37851297e-02 9.13681646e+00] [ 1.11212705e-02 9.99938148e-01 1.29739488e-04 3.98822992e-01] [-1.37857200e-02 2.35890216e-05 9.99904972e-01 -4.17712635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:0.40, Z:-0.42 [[ 9.99894551e-01 -9.01245005e-03 1.13869116e-02 9.17021880e+00] [ 9.01181730e-03 9.99959387e-01 1.06877396e-04 3.95174456e-01] [-1.13874123e-02 -4.24935876e-06 9.99935161e-01 -4.19121810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.39, Z:-0.42 [[ 9.99915273e-01 -7.08747496e-03 1.09185515e-02 9.20197944e+00] [ 7.08678795e-03 9.99974883e-01 1.01609788e-04 3.90959127e-01] [-1.09189974e-02 -2.42237196e-05 9.99940386e-01 -4.21267742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.23, Y:0.39, Z:-0.42 [[ 9.99916108e-01 -6.15970761e-03 1.13944871e-02 9.23427248e+00] [ 6.15890789e-03 9.99981028e-01 1.05274019e-04 3.91030788e-01] [-1.13949194e-02 -3.50875905e-05 9.99935075e-01 -4.21534570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.27, Y:0.39, Z:-0.42 [[ 9.99910312e-01 -5.41530537e-03 1.22491532e-02 9.26586635e+00] [ 5.41433542e-03 9.99985336e-01 1.12345927e-04 3.92043904e-01] [-1.22495819e-02 -4.60148276e-05 9.99924970e-01 -4.21309328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.30, Y:0.39, Z:-0.42 [[ 9.99898439e-01 -5.89234419e-03 1.29766079e-02 9.29812689e+00] [ 5.89130665e-03 9.99982639e-01 1.18180141e-04 3.91535607e-01] [-1.29770790e-02 -4.17189617e-05 9.99915793e-01 -4.21908896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:0.39, Z:-0.42 [[ 9.99861611e-01 -8.28685567e-03 1.44252412e-02 9.33127556e+00] [ 8.28583518e-03 9.99965663e-01 1.30508915e-04 3.91280332e-01] [-1.44258274e-02 -1.09656829e-05 9.99895942e-01 -4.23086259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:0.39, Z:-0.42 [[ 9.99857461e-01 -9.20899713e-03 1.41510236e-02 9.36340763e+00] [ 9.20812284e-03 9.99957596e-01 1.26938487e-04 3.90615342e-01] [-1.41515926e-02 3.38397088e-06 9.99899861e-01 -4.24153505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:9.40, Y:0.39, Z:-0.43 [[ 9.99863943e-01 -1.03500819e-02 1.28440841e-02 9.39668695e+00] [ 1.03494622e-02 9.99946436e-01 1.14716925e-04 3.87283461e-01] [-1.28445835e-02 1.82280455e-05 9.99917505e-01 -4.25498489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.43, Y:0.39, Z:-0.43 [[ 9.99862334e-01 -1.04506385e-02 1.28879086e-02 9.42888955e+00] [ 1.04500367e-02 9.99945390e-01 1.14034300e-04 3.86850303e-01] [-1.28883966e-02 2.06605169e-05 9.99916941e-01 -4.26027905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.46, Y:0.39, Z:-0.43 [[ 9.99867357e-01 -1.01339737e-02 1.27503677e-02 9.46200736e+00] [ 1.01333673e-02 9.99948650e-01 1.12165699e-04 3.86889570e-01] [-1.27508496e-02 1.70533376e-05 9.99918704e-01 -4.27900848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.39, Z:-0.43 [[ 9.99870861e-01 -9.93489884e-03 1.26316544e-02 9.49513678e+00] [ 9.93429876e-03 9.99950648e-01 1.10252870e-04 3.87468921e-01] [-1.26321263e-02 1.52479962e-05 9.99920211e-01 -4.28529916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:0.39, Z:-0.43 [[ 9.99857509e-01 -9.79139891e-03 1.37509825e-02 9.52723070e+00] [ 9.79069113e-03 9.99952063e-01 1.18791371e-04 3.88380841e-01] [-1.37514864e-02 1.58571778e-05 9.99905444e-01 -4.29426762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.39, Z:-0.43 [[ 9.99835380e-01 -1.00150672e-02 1.51297957e-02 9.55976788e+00] [ 1.00142503e-02 9.99949848e-01 1.29752698e-04 3.88870079e-01] [-1.51303364e-02 2.17822230e-05 9.99885530e-01 -4.30314459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.59, Y:0.39, Z:-0.43 [[ 9.99841878e-01 -1.01980753e-02 1.45677469e-02 9.59304106e+00] [ 1.01973509e-02 9.99947998e-01 1.24006260e-04 3.88227720e-01] [-1.45682540e-02 2.45657756e-05 9.99893877e-01 -4.31215605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:0.39, Z:-0.43 [[ 9.99856621e-01 -1.10244301e-02 1.28530028e-02 9.62572004e+00] [ 1.10239436e-02 9.99939229e-01 1.08701047e-04 3.88140067e-01] [-1.28534201e-02 3.30053171e-05 9.99917391e-01 -4.33243065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:0.39, Z:-0.43 [[ 9.99870757e-01 -1.09468934e-02 1.17743363e-02 9.65862563e+00] [ 1.09464878e-02 9.99940081e-01 9.88980572e-05 3.87674727e-01] [-1.17747134e-02 3.00023524e-05 9.99930675e-01 -4.34655610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:0.39, Z:-0.44 [[ 9.99887650e-01 -1.06650602e-02 1.05329644e-02 9.69131971e+00] [ 1.06647261e-02 9.99943126e-01 8.78875206e-05 3.85416048e-01] [-1.05333027e-02 2.44535340e-05 9.99944523e-01 -4.36160313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:0.39, Z:-0.44 [[ 9.99891541e-01 -9.35220136e-03 1.13772729e-02 9.72308750e+00] [ 9.35173899e-03 9.99956267e-01 9.38409140e-05 3.85867662e-01] [-1.13776529e-02 1.25665502e-05 9.99935272e-01 -4.35208690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.39, Z:-0.44 [[ 9.99897214e-01 -8.55912636e-03 1.15022882e-02 9.75546747e+00] [ 8.55860962e-03 9.99963370e-01 9.41486647e-05 3.86847692e-01] [-1.15026727e-02 4.30460644e-06 9.99933842e-01 -4.35692864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.79, Y:0.39, Z:-0.44 [[ 9.99917045e-01 -7.08357857e-03 1.07576311e-02 9.78821171e+00] [ 7.08304541e-03 9.99974911e-01 8.76598357e-05 3.87332237e-01] [-1.07579821e-02 -1.14557743e-05 9.99942131e-01 -4.37366159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.82, Y:0.39, Z:-0.44 [[ 9.99937307e-01 -6.19915798e-03 9.32482007e-03 9.82135744e+00] [ 6.19872245e-03 9.99980785e-01 7.56077134e-05 3.86511552e-01] [-9.32510960e-03 -1.78010018e-05 9.99956520e-01 -4.40287706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:0.39, Z:-0.44 [[ 9.99934389e-01 -5.53356597e-03 1.00298219e-02 9.85295610e+00] [ 5.53303123e-03 9.99984689e-01 8.10627998e-05 3.87124187e-01] [-1.00301169e-02 -2.55621635e-05 9.99949697e-01 -4.41020737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.89, Y:0.39, Z:-0.44 [[ 9.99921823e-01 -4.88812156e-03 1.15088686e-02 9.88585945e+00] [ 4.88740154e-03 9.99988052e-01 9.06863240e-05 3.88125336e-01] [-1.15091744e-02 -3.44307722e-05 9.99933767e-01 -4.41745253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.92, Y:0.39, Z:-0.44 [[ 9.99935451e-01 -4.17833338e-03 1.05657379e-02 9.91804841e+00] [ 4.17769508e-03 9.99991270e-01 8.24822184e-05 3.87471153e-01] [-1.05659903e-02 -3.83364630e-05 9.99944178e-01 -4.42762157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.39, Z:-0.44 [[ 9.99954123e-01 -2.30996420e-03 9.29598061e-03 9.94976354e+00] [ 2.30939315e-03 9.99997331e-01 7.21641188e-05 3.90519023e-01] [-9.29612250e-03 -5.06927342e-05 9.99956789e-01 -4.43483243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.39, Z:-0.44 [[ 9.99949013e-01 -1.88218111e-03 9.92111772e-03 9.98282030e+00] [ 1.88151472e-03 9.99998227e-01 7.65016780e-05 3.93452101e-01] [-9.92124412e-03 -5.78310483e-05 9.99950782e-01 -4.44329377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.40, Z:-0.44 [[ 9.99949744e-01 -1.87222759e-03 9.84906961e-03 1.00148502e+01] [ 1.87157857e-03 9.99998246e-01 7.51127605e-05 3.98159293e-01] [-9.84919296e-03 -5.66756780e-05 9.99951494e-01 -4.44522195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.05, Y:0.40, Z:-0.45 [[ 9.99932130e-01 -3.28700435e-03 1.11772414e-02 1.00480027e+01] [ 3.28624939e-03 9.99994597e-01 8.59096746e-05 4.00328982e-01] [-1.11774634e-02 -4.91726413e-05 9.99937529e-01 -4.45314940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.08, Y:0.40, Z:-0.45 [[ 9.99914692e-01 -4.52381811e-03 1.22533526e-02 1.00810479e+01] [ 4.52305134e-03 9.99989767e-01 9.02878803e-05 4.01476037e-01] [-1.22536357e-02 -3.48576349e-05 9.99924921e-01 -4.46582172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.11, Y:0.40, Z:-0.45 [[ 9.99899828e-01 -7.74370293e-03 1.18477069e-02 1.01138024e+01] [ 7.74320557e-03 9.99970017e-01 8.78506354e-05 4.04440490e-01] [-1.18480320e-02 3.89739511e-06 9.99929810e-01 -4.47794016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.41, Z:-0.45 [[ 9.99901762e-01 -9.37053308e-03 1.04239476e-02 1.01456731e+01] [ 9.37026897e-03 9.99956095e-01 7.41760643e-05 4.05628193e-01] [-1.04241850e-02 2.35064149e-05 9.99945666e-01 -4.49303930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:0.41, Z:-0.45 [[ 9.99901740e-01 -1.16155857e-02 7.84778294e-03 1.01785087e+01] [ 1.16155050e-02 9.99932536e-01 5.58685943e-05 4.10097992e-01] [-7.84790244e-03 3.52928571e-05 9.99969204e-01 -4.50401839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:0.42, Z:-0.45 [[ 9.99899266e-01 -1.26859210e-02 6.36599065e-03 1.02103286e+01] [ 1.26858930e-02 9.99919530e-01 4.47916252e-05 4.15128415e-01] [-6.36604660e-03 3.59711629e-05 9.99979736e-01 -4.52103215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:0.41, Z:-0.45 [[ 9.99893746e-01 -1.29369983e-02 6.71800452e-03 1.02423892e+01] [ 1.29369752e-02 9.99916313e-01 4.68947029e-05 4.14866431e-01] [-6.71804898e-03 4.00209379e-05 9.99977433e-01 -4.52815835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.27, Y:0.42, Z:-0.45 [[ 9.99894304e-01 -1.22547181e-02 7.82322745e-03 1.02742000e+01] [ 1.22546701e-02 9.99924907e-01 5.40741886e-05 4.15821219e-01] [-7.82330264e-03 4.18025985e-05 9.99969397e-01 -4.52360222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.42, Z:-0.45 [[ 9.99900326e-01 -1.14321739e-02 8.28508743e-03 1.03057088e+01] [ 1.14320941e-02 9.99934650e-01 5.69874917e-05 4.18640902e-01] [-8.28519749e-03 3.77340878e-05 9.99965676e-01 -4.52659968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.42, Z:-0.45 [[ 9.99885789e-01 -1.08099138e-02 1.05619241e-02 1.03390685e+01] [ 1.08097583e-02 9.99941570e-01 7.18125368e-05 4.23622848e-01] [-1.05620832e-02 4.23675114e-05 9.99944219e-01 -4.53083523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.43, Z:-0.45 [[ 9.99882534e-01 -1.07606796e-02 1.09144414e-02 1.03720649e+01] [ 1.07605197e-02 9.99942101e-01 7.33826065e-05 4.25720329e-01] [-1.09145991e-02 4.40710748e-05 9.99940433e-01 -4.53946056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:0.43, Z:-0.46 [[ 9.99895037e-01 -1.13438137e-02 9.01289550e-03 1.04054719e+01] [ 1.13437312e-02 9.99935656e-01 6.02757234e-05 4.28165310e-01] [-9.01299933e-03 4.19704672e-05 9.99959381e-01 -4.56168528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:0.43, Z:-0.46 [[ 9.99894712e-01 -1.17501157e-02 8.51471347e-03 1.04377188e+01] [ 1.17500628e-02 9.99930964e-01 5.62386723e-05 4.28939388e-01] [-8.51478646e-03 4.38156673e-05 9.99963748e-01 -4.58142591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:0.43, Z:-0.46 [[ 9.99896959e-01 -1.14554785e-02 8.65115199e-03 1.04694883e+01] [ 1.14554180e-02 9.99934383e-01 5.65476321e-05 4.29593688e-01] [-8.65123211e-03 4.25607564e-05 9.99962576e-01 -4.58835276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:0.43, Z:-0.46 [[ 9.99913591e-01 -9.81703804e-03 8.74278418e-03 1.05027761e+01] [ 9.81691641e-03 9.99951811e-01 5.68276498e-05 4.33047266e-01] [-8.74292076e-03 2.90044421e-05 9.99961780e-01 -4.59184591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:0.44, Z:-0.46 [[ 9.99928650e-01 -8.49431469e-03 8.39889459e-03 1.05362079e+01] [ 8.49416036e-03 9.99963923e-01 5.40476098e-05 4.36899424e-01] [-8.39905068e-03 1.72978040e-05 9.99964727e-01 -4.59191979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.44, Z:-0.46 [[ 9.99958112e-01 -6.35867949e-03 6.58337096e-03 1.05678819e+01] [ 6.35854043e-03 9.99979783e-01 4.20535548e-05 4.44324554e-01] [-6.58350528e-03 -1.91162869e-07 9.99978328e-01 -4.60604608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.44, Z:-0.46 [[ 9.99958478e-01 -6.30091674e-03 6.58337354e-03 1.06005546e+01] [ 6.30077914e-03 9.99980149e-01 4.16416094e-05 4.44432682e-01] [-6.58350523e-03 -1.59497724e-07 9.99978328e-01 -4.61356243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.63, Y:0.45, Z:-0.46 [[ 9.99970651e-01 -5.52450156e-03 5.30829123e-03 1.06324682e+01] [ 5.52440239e-03 9.99984740e-01 3.33443662e-05 4.46802332e-01] [-5.30839443e-03 -4.01825083e-06 9.99985910e-01 -4.63399550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.66, Y:0.45, Z:-0.46 [[ 9.99968564e-01 -5.71923205e-03 5.49202242e-03 1.06631255e+01] [ 5.71913162e-03 9.99983645e-01 3.39914160e-05 4.46873789e-01] [-5.49212700e-03 -2.58074834e-06 9.99984918e-01 -4.64775027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.45, Z:-0.47 [[ 9.99962268e-01 -7.45934415e-03 4.45207507e-03 1.06954562e+01] [ 7.45929437e-03 9.99972179e-01 2.77869828e-05 4.45141879e-01] [-4.45215848e-03 5.42340414e-06 9.99990089e-01 -4.66468237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:0.44, Z:-0.47 [[ 9.99958523e-01 -8.15552918e-03 4.05465571e-03 1.07268015e+01] [ 8.15549494e-03 9.99966743e-01 2.49777593e-05 4.44674529e-01] [-4.05472457e-03 8.09100083e-06 9.99991780e-01 -4.67476994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:0.45, Z:-0.47 [[ 9.99943980e-01 -9.51197992e-03 4.64320013e-03 1.07588537e+01] [ 9.51195008e-03 9.99954760e-01 2.85095630e-05 4.47648809e-01] [-4.64326125e-03 1.56579220e-05 9.99989220e-01 -4.66739503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.79, Y:0.45, Z:-0.47 [[ 9.99941164e-01 -9.43077047e-03 5.35998413e-03 1.07913941e+01] [ 9.43073175e-03 9.99955529e-01 3.24977275e-05 4.49964825e-01] [-5.36005224e-03 1.80527571e-05 9.99985635e-01 -4.66845796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.82, Y:0.45, Z:-0.47 [[ 9.99938489e-01 -9.13878034e-03 6.28499064e-03 1.08229744e+01] [ 9.13872557e-03 9.99958240e-01 3.74331431e-05 4.50218816e-01] [-6.28507027e-03 2.00059641e-05 9.99980249e-01 -4.67111917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.45, Z:-0.47 [[ 9.99946181e-01 -8.12889832e-03 6.44646736e-03 1.08551285e+01] [ 8.12882014e-03 9.99966960e-01 3.83294563e-05 4.47037622e-01] [-6.44656594e-03 1.40747803e-05 9.99979221e-01 -4.68075647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.45, Z:-0.47 [[ 9.99950777e-01 -7.67825521e-03 6.28392919e-03 1.08865502e+01] [ 7.67817488e-03 9.99970522e-01 3.69090881e-05 4.46421469e-01] [-6.28402734e-03 1.13418359e-05 9.99980255e-01 -4.68861794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.45, Z:-0.47 [[ 9.99952680e-01 -7.20637895e-03 6.53500682e-03 1.09191210e+01] [ 7.20628246e-03 9.99974034e-01 3.83128299e-05 4.46726109e-01] [-6.53511322e-03 8.78208807e-06 9.99978646e-01 -4.69882877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.45, Z:-0.47 [[ 9.99955522e-01 -7.23474442e-03 6.05075531e-03 1.09509234e+01] [ 7.23466328e-03 9.99973829e-01 3.52981829e-05 4.47244324e-01] [-6.05085233e-03 8.47856428e-06 9.99981693e-01 -4.70723869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.98, Y:0.45, Z:-0.47 [[ 9.99967334e-01 -7.06605849e-03 3.92447293e-03 1.09820745e+01] [ 7.06602233e-03 9.99975035e-01 2.30810793e-05 4.48309839e-01] [-3.92453805e-03 4.65008802e-06 9.99992299e-01 -4.72210718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.01, Y:0.45, Z:-0.47 [[ 9.99980757e-01 -5.66472763e-03 2.52893985e-03 1.10136740e+01] [ 5.66470811e-03 9.99983955e-01 1.48841357e-05 4.48564667e-01] [-2.52898359e-03 -5.58143189e-07 9.99996802e-01 -4.74557604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:0.45, Z:-0.48 [[ 9.99988436e-01 -4.40822334e-03 1.92260702e-03 1.10460596e+01] [ 4.40820895e-03 9.99990284e-01 1.17217935e-05 4.48017212e-01] [-1.92264001e-03 -3.24640446e-06 9.99998152e-01 -4.75274838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:0.45, Z:-0.48 [[ 9.99998156e-01 -8.14718893e-04 1.73909189e-03 1.10774372e+01] [ 8.14702093e-04 9.99999668e-01 1.03681619e-05 4.48327497e-01] [-1.73909976e-03 -8.95130100e-06 9.99998488e-01 -4.76647980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:0.45, Z:-0.48 [[ 9.99999060e-01 9.37430123e-04 1.00011337e-03 1.11090958e+01] [-9.37436588e-04 9.99999561e-01 5.99576536e-06 4.49883814e-01] [-1.00010731e-03 -6.93330259e-06 9.99999500e-01 -4.77616745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:0.46, Z:-0.48 [[ 9.99993350e-01 3.38793513e-03 -1.35009639e-03 1.11393848e+01] [-3.38794819e-03 9.99994261e-01 -7.38655668e-06 4.55239561e-01] [ 1.35006361e-03 1.19605642e-05 9.99999089e-01 -4.79005712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:0.46, Z:-0.48 [[ 9.99988586e-01 4.36572786e-03 -1.94132251e-03 1.11679090e+01] [-4.36575797e-03 9.99990470e-01 -1.12744895e-05 4.58142764e-01] [ 1.94125479e-03 1.97497050e-05 9.99998116e-01 -4.79888786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:0.46, Z:-0.48 [[ 9.99986051e-01 4.93962296e-03 -1.87030305e-03 1.11969702e+01] [-4.93965303e-03 9.99987800e-01 -1.14595265e-05 4.62879126e-01] [ 1.87022363e-03 2.06980148e-05 9.99998251e-01 -4.80301277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:0.47, Z:-0.48 [[ 9.99978245e-01 5.98490551e-03 -2.77332125e-03 1.12243857e+01] [-5.98497539e-03 9.99982090e-01 -1.68997588e-05 4.68574482e-01] [ 2.77317044e-03 3.34976506e-05 9.99996154e-01 -4.80798673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:0.47, Z:-0.48 [[ 9.99983167e-01 5.76654780e-03 -6.42168425e-04 1.12530571e+01] [-5.76655204e-03 9.99983373e-01 -4.75207000e-06 4.70725374e-01] [ 6.42130345e-04 8.45508764e-06 9.99999794e-01 -4.81944163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:0.47, Z:-0.48 [[ 9.99987257e-01 5.04042856e-03 -2.83476006e-04 1.12815331e+01] [-5.04042946e-03 9.99987297e-01 -2.44990790e-06 4.71917131e-01] [ 2.83460057e-04 3.87871750e-06 9.99999960e-01 -4.82934190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.31, Y:0.48, Z:-0.48 [[ 9.99995185e-01 2.63787698e-03 -1.63456801e-03 1.13112819e+01] [-2.63789665e-03 9.99996521e-01 -9.88022976e-06 4.78092138e-01] [ 1.63453626e-03 1.41920037e-05 9.99998664e-01 -4.84020238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:0.48, Z:-0.48 [[ 9.99998682e-01 1.04361081e-03 -1.24399655e-03 1.13403622e+01] [-1.04362190e-03 9.99999455e-01 -8.26901363e-06 4.81782356e-01] [ 1.24398725e-03 9.56726478e-06 9.99999226e-01 -4.84450904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:0.49, Z:-0.48 [[ 9.99998518e-01 -1.71867673e-03 -9.96677069e-05 1.13686238e+01] [ 1.71867660e-03 9.99998523e-01 -1.39865383e-06 4.88650437e-01] [ 9.96699635e-05 1.22735520e-06 9.99999995e-01 -4.84317578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.49, Z:-0.48 [[ 9.99995853e-01 -2.79772799e-03 6.82864429e-04 1.13991793e+01] [ 2.79772577e-03 9.99996086e-01 4.21511811e-06 4.91902936e-01] [-6.82873549e-04 -2.30463322e-06 9.99999767e-01 -4.83979211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.43, Y:0.49, Z:-0.49 [[ 9.99987452e-01 -4.69521750e-03 1.74649016e-03 1.14304449e+01] [ 4.69520615e-03 9.99988977e-01 1.05986162e-05 4.94536178e-01] [-1.74652068e-03 -2.39835185e-06 9.99998475e-01 -4.85629510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:0.50, Z:-0.49 [[ 9.99979847e-01 -6.02217781e-03 2.00985748e-03 1.14612279e+01] [ 6.02216523e-03 9.99981867e-01 1.23114121e-05 4.95234090e-01] [-2.00989518e-03 -2.07470200e-07 9.99997980e-01 -4.86969614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:0.50, Z:-0.49 [[ 9.99954306e-01 -9.23008271e-03 2.48844141e-03 1.14938360e+01] [ 9.23006625e-03 9.99957402e-01 1.80976472e-05 5.01480688e-01] [-2.48850245e-03 4.87165882e-06 9.99996904e-01 -4.87166802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:0.51, Z:-0.49 [[ 9.99927834e-01 -1.20053652e-02 4.44360920e-04 1.15249888e+01] [ 1.20053649e-02 9.99927933e-01 3.25285764e-06 5.08026289e-01] [-4.44367948e-04 2.08209211e-06 9.99999901e-01 -4.88168598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:0.51, Z:-0.49 [[ 9.99913220e-01 -1.31485202e-02 -8.17770080e-04 1.15575366e+01] [ 1.31485219e-02 9.99913554e-01 -3.39134109e-06 5.09099233e-01] [ 8.17743979e-04 -7.36142100e-06 9.99999666e-01 -4.90273269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.59, Y:0.51, Z:-0.49 [[ 9.99878370e-01 -1.53983493e-02 -2.47705418e-03 1.15885342e+01] [ 1.53983652e-02 9.99881438e-01 -1.26299463e-05 5.10502808e-01] [ 2.47695497e-03 -2.55141747e-05 9.99996932e-01 -4.91787928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.51, Z:-0.49 [[ 9.99869086e-01 -1.59693447e-02 -2.60599220e-03 1.16195638e+01] [ 1.59693637e-02 9.99872481e-01 -1.35193759e-05 5.11918240e-01] [ 2.60587579e-03 -2.80984313e-05 9.99996604e-01 -4.92256451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.52, Z:-0.49 [[ 9.99865064e-01 -1.63348575e-02 -1.73966954e-03 1.16500983e+01] [ 1.63348675e-02 9.99866577e-01 -8.41190764e-06 5.16305773e-01] [ 1.73957483e-03 -2.00064989e-05 9.99998487e-01 -4.92160882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:0.52, Z:-0.49 [[ 9.99866177e-01 -1.63053492e-02 -1.32795025e-03 1.16816419e+01] [ 1.63053552e-02 9.99867059e-01 -6.30537501e-06 5.19823143e-01] [ 1.32787653e-03 -1.53481694e-05 9.99999118e-01 -4.92631402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:0.52, Z:-0.49 [[ 9.99869028e-01 -1.60811517e-02 -1.82319769e-03 1.17133911e+01] [ 1.60811628e-02 9.99870690e-01 -8.58103121e-06 5.20886736e-01] [ 1.82309992e-03 -2.07392315e-05 9.99998338e-01 -4.93353811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.75, Y:0.52, Z:-0.49 [[ 9.99874844e-01 -1.57841260e-02 -1.07579925e-03 1.17451773e+01] [ 1.57841303e-02 9.99875423e-01 -4.55246669e-06 5.22368221e-01] [ 1.07573709e-03 -1.24286586e-05 9.99999421e-01 -4.93899783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:0.52, Z:-0.49 [[ 9.99880483e-01 -1.54438960e-02 -7.10785338e-04 1.17758526e+01] [ 1.54438979e-02 9.99880736e-01 -2.88814439e-06 5.22662083e-01] [ 7.10745171e-04 -8.08949696e-06 9.99999747e-01 -4.94785462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:0.52, Z:-0.50 [[ 9.99892087e-01 -1.45757438e-02 -1.83360292e-03 1.18073102e+01] [ 1.45757524e-02 9.99893768e-01 -8.67649940e-06 5.21295955e-01] [ 1.83353460e-03 -1.80505790e-05 9.99998319e-01 -4.95438883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:0.52, Z:-0.50 [[ 9.99909535e-01 -1.31348923e-02 -2.89780460e-03 1.18386837e+01] [ 1.31349059e-02 9.99913733e-01 -1.43588420e-05 5.19296029e-01] [ 2.89774322e-03 -2.37048476e-05 9.99995801e-01 -4.96763617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:0.52, Z:-0.50 [[ 9.99927913e-01 -1.15986388e-02 -3.10496084e-03 1.18693717e+01] [ 1.15986460e-02 9.99932733e-01 -1.56570101e-05 5.19141591e-01] [ 3.10493358e-03 -2.03574604e-05 9.99995179e-01 -4.97879393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.52, Z:-0.50 [[ 9.99961290e-01 -7.86493085e-03 -3.94473248e-03 1.18996485e+01] [ 7.86491223e-03 9.99969071e-01 -2.02316176e-05 5.19237123e-01] [ 3.94476959e-03 -1.07941403e-05 9.99992219e-01 -4.97898089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:0.52, Z:-0.50 [[ 9.99978715e-01 -5.33996673e-03 -3.74882564e-03 1.19290040e+01] [ 5.33993102e-03 9.99985742e-01 -1.95355509e-05 5.19691630e-01] [ 3.74887651e-03 -4.83335250e-07 9.99992973e-01 -4.97996924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.96, Y:0.52, Z:-0.50 [[ 9.99995800e-01 6.79692719e-04 -2.81737135e-03 1.19584617e+01] [-6.79737929e-04 9.99999769e-01 -1.50894331e-05 5.21203078e-01] [ 2.81736044e-03 1.70044439e-05 9.99996031e-01 -4.97725476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:0.52, Z:-0.50 [[ 9.99989269e-01 3.54074027e-03 -2.98751049e-03 1.19861530e+01] [-3.54081490e-03 9.99993731e-01 -1.96910712e-05 5.21565740e-01] [ 2.98742204e-03 3.02690816e-05 9.99995537e-01 -4.98509358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:0.52, Z:-0.50 [[ 9.99949390e-01 9.21195889e-03 -4.04443033e-03 1.20136009e+01] [-9.21214192e-03 9.99957567e-01 -2.66276180e-05 5.23502254e-01] [ 4.04401342e-03 6.38841366e-05 9.99991821e-01 -4.99820788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:0.53, Z:-0.50 [[ 9.99916816e-01 1.24830561e-02 -3.24569689e-03 1.20415853e+01] [-1.24831860e-02 9.99922082e-01 -1.97710020e-05 5.25418981e-01] [ 3.24519718e-03 6.02859953e-05 9.99994733e-01 -5.00699608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:0.53, Z:-0.50 [[ 9.99904246e-01 1.37169171e-02 -1.82906097e-03 1.20698338e+01] [-1.37169615e-02 9.99905918e-01 -1.16870104e-05 5.27161880e-01] [ 1.82872858e-03 3.67750502e-05 9.99998327e-01 -5.00274851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.10, Y:0.53, Z:-0.50 [[ 9.99902131e-01 1.39071472e-02 -1.52275530e-03 1.20989318e+01] [-1.39071781e-02 9.99903290e-01 -9.74489443e-06 5.28371829e-01] [ 1.52247251e-03 3.09211699e-05 9.99998841e-01 -5.00375798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:0.53, Z:-0.50 [[ 9.99919029e-01 1.27154352e-02 -5.02779806e-04 1.21270239e+01] [-1.27154390e-02 9.99919156e-01 -4.26121502e-06 5.28774137e-01] [ 5.02684976e-04 1.06539359e-05 9.99999874e-01 -5.00573081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.16, Y:0.53, Z:-0.50 [[ 9.99932681e-01 1.15856244e-02 -6.38288058e-04 1.21559624e+01] [-1.15856298e-02 9.99932884e-01 -4.79600210e-06 5.27791969e-01] [ 6.38189654e-04 1.21906484e-05 9.99999796e-01 -5.01298524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.53, Z:-0.50 [[ 9.99963064e-01 8.35210710e-03 -2.02800441e-03 1.21842149e+01] [-8.35215112e-03 9.99965120e-01 -1.32378337e-05 5.27618173e-01] [ 2.02782311e-03 3.01755440e-05 9.99997944e-01 -5.01946855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.53, Z:-0.50 [[ 9.99977975e-01 6.44235075e-03 -1.59580579e-03 1.22133908e+01] [-6.44237571e-03 9.99979248e-01 -1.05034192e-05 5.28648807e-01] [ 1.59570501e-03 2.07839684e-05 9.99998727e-01 -5.02408297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.24, Y:0.53, Z:-0.50 [[ 9.99994785e-01 3.12930093e-03 7.98705012e-04 1.22422005e+01] [-3.12930507e-03 9.99995104e-01 3.93848422e-06 5.28804702e-01] [-7.98688776e-04 -6.43785532e-06 9.99999681e-01 -5.03289227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.27, Y:0.53, Z:-0.50 [[ 9.99997778e-01 1.91508806e-03 8.80763640e-04 1.22728358e+01] [-1.91509342e-03 9.99998166e-01 5.23252979e-06 5.27088824e-01] [-8.80752004e-04 -6.91926282e-06 9.99999612e-01 -5.04150463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:0.52, Z:-0.51 [[ 9.99999873e-01 3.09500267e-04 3.97656051e-04 1.23027294e+01] [-3.09501336e-04 9.99999952e-01 2.62851990e-06 5.21243987e-01] [-3.97655218e-04 -2.75159465e-06 9.99999921e-01 -5.06187547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:0.52, Z:-0.51 [[ 9.99999996e-01 9.01218848e-05 2.26838292e-05 1.23334123e+01] [-9.01218878e-05 9.99999996e-01 1.34495341e-07 5.20229884e-01] [-2.26838170e-05 -1.36539650e-07 1.00000000e+00 -5.06637821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:0.52, Z:-0.51 [[ 9.99997527e-01 5.65436752e-04 -2.15107025e-03 1.23641093e+01] [-5.65465495e-04 9.99999840e-01 -1.27539721e-05 5.22238513e-01] [ 2.15106269e-03 1.39702966e-05 9.99997686e-01 -5.06855342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:0.52, Z:-0.51 [[ 9.99993897e-01 1.43283898e-03 -3.18631299e-03 1.23932101e+01] [-1.43291997e-03 9.99998973e-01 -2.31368079e-05 5.22273687e-01] [ 3.18627657e-03 2.77023982e-05 9.99994923e-01 -5.07074613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:0.52, Z:-0.51 [[ 9.99991970e-01 2.06191525e-03 -3.43620767e-03 1.24218431e+01] [-2.06200356e-03 9.99997874e-01 -2.21587508e-05 5.21052760e-01] [ 3.43615467e-03 2.92440453e-05 9.99994096e-01 -5.07739372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:0.52, Z:-0.51 [[ 9.99981605e-01 3.50241698e-03 -4.95205165e-03 1.24493457e+01] [-3.50261845e-03 9.99993865e-01 -3.20109314e-05 5.16453059e-01] [ 4.95190916e-03 4.93554900e-05 9.99987738e-01 -5.09625848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.48, Y:0.51, Z:-0.51 [[ 9.99981827e-01 4.27142211e-03 -4.25456595e-03 1.24779797e+01] [-4.27157822e-03 9.99990876e-01 -2.76076084e-05 5.14321012e-01] [ 4.25440921e-03 4.57808180e-05 9.99990949e-01 -5.10152434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.51, Y:0.51, Z:-0.51 [[ 9.99981973e-01 4.23709668e-03 -4.25456667e-03 1.25072933e+01] [-4.23725198e-03 9.99991022e-01 -2.74895329e-05 5.14587853e-01] [ 4.25441200e-03 4.55167084e-05 9.99990949e-01 -5.10827264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994203822000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.51, Z:-0.51 [[ 9.99981389e-01 4.25624373e-03 -4.37104457e-03 1.25357819e+01] [-4.25640988e-03 9.99990941e-01 -2.87089832e-05 5.14347036e-01] [ 4.37088278e-03 4.73134062e-05 9.99990447e-01 -5.11111689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:0.51, Z:-0.51 [[ 9.99980406e-01 3.32260674e-03 -5.30540336e-03 1.25638908e+01] [-3.32284085e-03 9.99994479e-01 -3.53112731e-05 5.11705138e-01] [ 5.30525674e-03 5.29395922e-05 9.99985926e-01 -5.12389976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.59, Y:0.51, Z:-0.51 [[ 9.99981045e-01 2.47533492e-03 -5.63765771e-03 1.25916773e+01] [-2.47558635e-03 9.99996935e-01 -3.76212585e-05 5.08711423e-01] [ 5.63754730e-03 5.15770539e-05 9.99984108e-01 -5.14373433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.62, Y:0.50, Z:-0.52 [[ 9.99976867e-01 1.41365537e-03 -6.65340751e-03 1.26202381e+01] [-1.41398113e-03 9.99998999e-01 -4.42571812e-05 5.04139525e-01] [ 6.65333829e-03 5.36639500e-05 9.99977865e-01 -5.15829824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:0.50, Z:-0.52 [[ 9.99980764e-01 1.87967261e-03 -5.91084043e-03 1.26472484e+01] [-1.87994623e-03 9.99998232e-01 -4.07352836e-05 5.02742509e-01] [ 5.91075341e-03 5.18465621e-05 9.99982530e-01 -5.16062395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.68, Y:0.50, Z:-0.52 [[ 9.99980107e-01 2.80867771e-03 -5.64781303e-03 1.26752739e+01] [-2.80894345e-03 9.99996054e-01 -3.91210809e-05 5.01678314e-01] [ 5.64768086e-03 5.49846900e-05 9.99984050e-01 -5.15803620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.70, Y:0.50, Z:-0.52 [[ 9.99955618e-01 5.60371221e-03 -7.57362744e-03 1.27035235e+01] [-5.60429562e-03 9.99984294e-01 -5.58105590e-05 4.99451896e-01] [ 7.57319574e-03 9.82529291e-05 9.99971318e-01 -5.15985741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.73, Y:0.50, Z:-0.52 [[ 9.99941016e-01 7.44344323e-03 -7.90951837e-03 1.27309797e+01] [-7.44412337e-03 9.99972291e-01 -5.65532237e-05 5.00208563e-01] [ 7.90887826e-03 1.15429318e-04 9.99968718e-01 -5.16681354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.76, Y:0.50, Z:-0.52 [[ 9.99899563e-01 1.12656084e-02 -8.59937368e-03 1.27577394e+01] [-1.12665709e-02 9.99936528e-01 -6.34897452e-05 5.03060722e-01] [ 8.59811261e-03 1.60368822e-04 9.99963023e-01 -5.17174256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.50, Z:-0.52 [[ 9.99879841e-01 1.29175012e-02 -8.56983511e-03 1.27858346e+01] [-1.29185118e-02 9.99916551e-01 -6.25685991e-05 5.02605918e-01] [ 8.56831173e-03 1.73270596e-04 9.99963276e-01 -5.19203675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.81, Y:0.50, Z:-0.52 [[ 9.99886437e-01 1.29341769e-02 -7.73440401e-03 1.28128009e+01] [-1.29350088e-02 9.99916338e-01 -5.75416861e-05 5.03197891e-01] [ 7.73301267e-03 1.57579735e-04 9.99970087e-01 -5.19607278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.84, Y:0.50, Z:-0.52 [[ 9.99911065e-01 1.10658985e-02 -7.44363574e-03 1.28403846e+01] [-1.10666196e-02 9.99938762e-01 -5.56864463e-05 5.02856896e-01] [ 7.44256368e-03 1.38057379e-04 9.99972294e-01 -5.20891354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.87, Y:0.50, Z:-0.52 [[ 9.99924252e-01 9.44111065e-03 -7.89655422e-03 1.28680280e+01] [-9.44187520e-03 9.99955423e-01 -5.95458229e-05 5.02841127e-01] [ 7.89564003e-03 1.34099592e-04 9.99968820e-01 -5.22168165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.90, Y:0.51, Z:-0.52 [[ 9.99948299e-01 5.57649184e-03 -8.50304753e-03 1.28955245e+01] [-5.57724343e-03 9.99984445e-01 -6.46810791e-05 5.06290398e-01] [ 8.50255457e-03 1.12101301e-04 9.99963846e-01 -5.22023213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.92, Y:0.51, Z:-0.52 [[ 9.99964008e-01 1.55921832e-03 -8.33970118e-03 1.29237719e+01] [-1.55980370e-03 9.99998781e-01 -6.36881998e-05 5.05422967e-01] [ 8.33959171e-03 7.66942044e-05 9.99965222e-01 -5.23404356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.95, Y:0.50, Z:-0.52 [[ 9.99962112e-01 -6.47063632e-04 -8.68075165e-03 1.29517493e+01] [ 6.46509144e-04 9.99999789e-01 -6.66815389e-05 5.03501961e-01] [ 8.68079297e-03 6.10668272e-05 9.99962319e-01 -5.24675339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:0.50, Z:-0.53 [[ 9.99941933e-01 -4.29940326e-03 -9.88156786e-03 1.29796550e+01] [ 4.29885537e-03 9.99990757e-01 -7.66856186e-05 5.03149219e-01] [ 9.88180622e-03 3.42017347e-05 9.99951173e-01 -5.25302073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:0.50, Z:-0.53 [[ 9.99929051e-01 -5.89811064e-03 -1.03491614e-02 1.30071027e+01] [ 5.89754796e-03 9.99982606e-01 -8.48871576e-05 5.03624824e-01] [ 1.03494820e-02 2.38464595e-05 9.99946442e-01 -5.26289743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.03, Y:0.50, Z:-0.53 [[ 9.99905455e-01 -8.08104537e-03 -1.11255064e-02 1.30347800e+01] [ 8.08051004e-03 9.99967348e-01 -9.30686481e-05 5.02662562e-01] [ 1.11258952e-02 3.16008268e-06 9.99938105e-01 -5.27673011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.06, Y:0.51, Z:-0.53 [[ 9.99899411e-01 -8.78188283e-03 -1.11376193e-02 1.30628386e+01] [ 8.78136550e-03 9.99961439e-01 -9.53529159e-05 5.05408574e-01] [ 1.11380272e-02 -2.46018148e-06 9.99937970e-01 -5.26939960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.09, Y:0.51, Z:-0.53 [[ 9.99904638e-01 -8.92105119e-03 -1.05418382e-02 1.30893979e+01] [ 8.92061004e-03 9.99960207e-01 -8.88689132e-05 5.07670725e-01] [ 1.05422115e-02 -5.17918932e-06 9.99944429e-01 -5.26725842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.12, Y:0.51, Z:-0.53 [[ 9.99910850e-01 -9.93959750e-03 -8.91605909e-03 1.31172068e+01] [ 9.93928295e-03 9.99950601e-01 -7.95899856e-05 5.05997666e-01] [ 8.91640974e-03 -9.03634401e-06 9.99960248e-01 -5.27244617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:0.50, Z:-0.53 [[ 9.99898832e-01 -1.08136237e-02 -9.24073161e-03 1.31449877e+01] [ 1.08133074e-02 9.99941531e-01 -8.41892909e-05 5.04920687e-01] [ 9.24110171e-03 -1.57420982e-05 9.99957300e-01 -5.27883007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:0.51, Z:-0.53 [[ 9.99863239e-01 -1.30134694e-02 -1.02055184e-02 1.31722471e+01] [ 1.30132197e-02 9.99915320e-01 -9.08753441e-05 5.05009257e-01] [ 1.02058368e-02 -4.19437369e-05 9.99947918e-01 -5.28833712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:0.51, Z:-0.53 [[ 9.99848758e-01 -1.52376910e-02 -8.38292347e-03 1.31999414e+01] [ 1.52375645e-02 9.99883898e-01 -7.89569823e-05 5.05753847e-01] [ 8.38315332e-03 -4.87902968e-05 9.99964860e-01 -5.29081777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:0.51, Z:-0.53 [[ 9.99838129e-01 -1.64191616e-02 -7.35703403e-03 1.32289699e+01] [ 1.64190871e-02 9.99865195e-01 -7.05171391e-05 5.05338934e-01] [ 7.35720010e-03 -5.02900584e-05 9.99972934e-01 -5.28635032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:0.50, Z:-0.53 [[ 9.99817402e-01 -1.83305645e-02 -5.39933883e-03 1.32578501e+01] [ 1.83305421e-02 9.99831980e-01 -5.36552412e-05 4.99211093e-01] [ 5.39941517e-03 -4.53273637e-05 9.99985422e-01 -5.29482360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.49, Z:-0.53 [[ 9.99807996e-01 -1.86579601e-02 -5.98770714e-03 1.32872780e+01] [ 1.86579637e-02 9.99825924e-01 -5.52573395e-05 4.94777114e-01] [ 5.98769581e-03 -5.64716928e-05 9.99982072e-01 -5.29997288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.49, Z:-0.53 [[ 9.99802678e-01 -1.81787779e-02 -8.00861707e-03 1.33168247e+01] [ 1.81787659e-02 9.99834750e-01 -7.42998873e-05 4.94696204e-01] [ 8.00864433e-03 -7.13015487e-05 9.99967928e-01 -5.30379192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:0.49, Z:-0.53 [[ 9.99820611e-01 -1.61746601e-02 -9.85523042e-03 1.33454229e+01] [ 1.61744949e-02 9.99869180e-01 -9.64682437e-05 4.93527472e-01] [ 9.85550150e-03 -6.29524359e-05 9.99951431e-01 -5.31326157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:0.49, Z:-0.53 [[ 9.99883960e-01 -1.31098016e-02 -7.75889589e-03 1.33738165e+01] [ 1.31095844e-02 9.99914063e-01 -7.88461515e-05 4.93076446e-01] [ 7.75926277e-03 -2.28788985e-05 9.99969896e-01 -5.29950654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:0.49, Z:-0.53 [[ 9.99906804e-01 -1.15398113e-02 -7.29489193e-03 1.34021089e+01] [ 1.15395880e-02 9.99933414e-01 -7.27064056e-05 4.92521883e-01] [ 7.29524521e-03 -1.14804174e-05 9.99973389e-01 -5.30008504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:0.49, Z:-0.53 [[ 9.99944635e-01 -8.69976214e-03 -5.91948577e-03 1.34301747e+01] [ 8.69956554e-03 9.99962156e-01 -5.89610470e-05 4.88405415e-01] [ 5.91977470e-03 7.46082822e-06 9.99982478e-01 -5.30176052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.49, Z:-0.53 [[ 9.99962856e-01 -7.12953158e-03 -4.84323554e-03 1.34585191e+01] [ 7.12936502e-03 9.99974584e-01 -5.16537247e-05 4.87484837e-01] [ 4.84348071e-03 1.71226120e-05 9.99988270e-01 -5.30914419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:0.49, Z:-0.53 [[ 9.99986015e-01 -3.89645954e-03 -3.57598710e-03 1.34872926e+01] [ 3.89634254e-03 9.99992408e-01 -3.96846971e-05 4.86327734e-01] [ 3.57611458e-03 2.57508714e-05 9.99993605e-01 -5.31184858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.52, Y:0.49, Z:-0.53 [[ 9.99989397e-01 -2.85096128e-03 -3.61644356e-03 1.35158989e+01] [ 2.85083188e-03 9.99995936e-01 -4.09358322e-05 4.87570633e-01] [ 3.61654557e-03 3.06255256e-05 9.99993460e-01 -5.31276059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.49, Z:-0.53 [[ 9.99987778e-01 -3.02509508e-03 -3.91068204e-03 1.35448971e+01] [ 3.02494359e-03 9.99995424e-01 -4.46509747e-05 4.88560952e-01] [ 3.91079922e-03 3.28208364e-05 9.99992352e-01 -5.32348412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.49, Z:-0.53 [[ 9.99977601e-01 -4.23111371e-03 -5.18611584e-03 1.35738566e+01] [ 4.23088430e-03 9.99991048e-01 -5.52055957e-05 4.87112588e-01] [ 5.18630300e-03 3.32625031e-05 9.99986550e-01 -5.34222066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.49, Z:-0.54 [[ 9.99956185e-01 -6.09366995e-03 -7.10602736e-03 1.36013232e+01] [ 6.09325588e-03 9.99981433e-01 -7.99198683e-05 4.85504924e-01] [ 7.10638243e-03 3.66175236e-05 9.99974749e-01 -5.36004593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.49, Z:-0.54 [[ 9.99953139e-01 -5.82982797e-03 -7.72873852e-03 1.36296071e+01] [ 5.82932118e-03 9.99983005e-01 -8.80987266e-05 4.85336039e-01] [ 7.72912077e-03 4.30412991e-05 9.99970129e-01 -5.37843818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:0.49, Z:-0.54 [[ 9.99953827e-01 -4.80035841e-03 -8.32470681e-03 1.36569828e+01] [ 4.79975246e-03 9.99988477e-01 -9.27660629e-05 4.85573694e-01] [ 8.32505619e-03 5.28052476e-05 9.99965345e-01 -5.38147531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.49, Z:-0.54 [[ 9.99959129e-01 -1.80831110e-03 -8.85838543e-03 1.36847800e+01] [ 1.80747260e-03 9.99998361e-01 -1.02660915e-04 4.89358174e-01] [ 8.85855656e-03 8.66454303e-05 9.99960758e-01 -5.37356357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.49, Z:-0.54 [[ 9.99969185e-01 -4.61073779e-04 -7.83691883e-03 1.37121924e+01] [ 4.60386412e-04 9.99999890e-01 -8.95127118e-05 4.91937661e-01] [ 7.83695924e-03 8.59019425e-05 9.99969287e-01 -5.38014775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.49, Z:-0.54 [[ 9.99956740e-01 1.52389781e-03 -9.17578808e-03 1.37395857e+01] [-1.52495927e-03 9.99998831e-01 -1.08685136e-04 4.94325297e-01] [ 9.17561173e-03 1.22673138e-04 9.99957896e-01 -5.39689112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.77, Y:0.50, Z:-0.54 [[ 9.99940774e-01 2.57732341e-03 -1.05737939e-02 1.37675947e+01] [-2.57880607e-03 9.99996667e-01 -1.26588283e-04 4.98870554e-01] [ 1.05734324e-02 1.53848550e-04 9.99944088e-01 -5.40587453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.50, Z:-0.54 [[ 9.99944433e-01 2.54929896e-03 -1.02290142e-02 1.37949512e+01] [-2.55066994e-03 9.99996740e-01 -1.20985092e-04 5.02661020e-01] [ 1.02286724e-02 1.47069208e-04 9.99947675e-01 -5.40815445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374203822000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:13.82, Y:0.51, Z:-0.54 [[ 9.99948592e-01 1.76778878e-03 -9.98438438e-03 1.38231942e+01] [-1.76906069e-03 9.99998428e-01 -1.18559322e-04 5.08320831e-01] [ 9.98415910e-03 1.36216209e-04 9.99950148e-01 -5.40701076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.51, Z:-0.54 [[ 9.99962274e-01 -1.41349219e-04 -8.68506932e-03 1.38506498e+01] [ 1.40451701e-04 9.99999985e-01 -1.03950202e-04 5.12551496e-01] [ 8.68508388e-03 1.02726448e-04 9.99962279e-01 -5.42085847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.88, Y:0.52, Z:-0.54 [[ 9.99968452e-01 -1.58197044e-03 -7.78405651e-03 1.38782485e+01] [ 1.58129042e-03 9.99998745e-01 -9.35138268e-05 5.15016957e-01] [ 7.78419468e-03 8.12020227e-05 9.99969699e-01 -5.42817336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.91, Y:0.52, Z:-0.54 [[ 9.99957628e-01 -6.38558787e-03 -6.63072512e-03 1.39058033e+01] [ 6.38519640e-03 9.99979611e-01 -8.02055889e-05 5.19782591e-01] [ 6.63110208e-03 3.78637083e-05 9.99978013e-01 -5.42863288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.52, Z:-0.54 [[ 9.99917422e-01 -1.14439931e-02 -5.84677142e-03 1.39343236e+01] [ 1.14437740e-02 9.99934515e-01 -7.09350858e-05 5.22499234e-01] [ 5.84720032e-03 4.02009756e-06 9.99982905e-01 -5.41944158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.52, Z:-0.54 [[ 9.99886633e-01 -1.36410745e-02 -6.37512899e-03 1.39636414e+01] [ 1.36408617e-02 9.99906956e-01 -7.68500978e-05 5.24517269e-01] [ 6.37558414e-03 -1.01208676e-05 9.99979676e-01 -5.41791819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.99, Y:0.53, Z:-0.54 [[ 9.99815627e-01 -1.81804006e-02 -6.17939858e-03 1.39923968e+01] [ 1.81802843e-02 9.99834722e-01 -7.49921129e-05 5.28443833e-01] [ 6.17974065e-03 -3.73649367e-05 9.99980905e-01 -5.42548776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:0.53, Z:-0.54 [[ 9.99773124e-01 -2.05896373e-02 -5.45603369e-03 1.40231443e+01] [ 2.05895865e-02 9.99788010e-01 -6.54980038e-05 5.29197526e-01] [ 5.45622564e-03 -4.68543335e-05 9.99985114e-01 -5.43294903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:0.53, Z:-0.54 [[ 9.99703653e-01 -2.40381011e-02 -3.84399907e-03 1.40534906e+01] [ 2.40381026e-02 9.99711042e-01 -4.58193485e-05 5.29253842e-01] [ 3.84398972e-03 -4.65966740e-05 9.99992611e-01 -5.43612584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:0.53, Z:-0.54 [[ 9.99652833e-01 -2.61452420e-02 -3.26198596e-03 1.40842148e+01] [ 2.61452566e-02 9.99658154e-01 -3.81958309e-05 5.26764321e-01] [ 3.26186950e-03 -4.71028893e-05 9.99994679e-01 -5.44627701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.12, Y:0.53, Z:-0.55 [[ 9.99632484e-01 -2.68228791e-02 -3.92804172e-03 1.41158770e+01] [ 2.68229091e-02 9.99640200e-01 -4.50309153e-05 5.25642076e-01] [ 3.92783627e-03 -6.03471404e-05 9.99992284e-01 -5.45589866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.53, Z:-0.55 [[ 9.99638885e-01 -2.65887563e-02 -3.89063518e-03 1.41472278e+01] [ 2.65887801e-02 9.99646455e-01 -4.56166915e-05 5.25807896e-01] [ 3.89047256e-03 -5.78470246e-05 9.99992430e-01 -5.45133678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.53, Z:-0.54 [[ 9.99683183e-01 -2.50248124e-02 -2.70044887e-03 1.41775495e+01] [ 2.50248179e-02 9.99686830e-01 -3.17358433e-05 5.26259786e-01] [ 2.70039735e-03 -3.58524525e-05 9.99996353e-01 -5.44648287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.53, Z:-0.54 [[ 9.99793315e-01 -2.00758668e-02 -3.20732560e-03 1.42090006e+01] [ 2.00758512e-02 9.99798459e-01 -3.70606819e-05 5.27592891e-01] [ 3.20742321e-03 -2.73367695e-05 9.99994856e-01 -5.44635072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.53, Z:-0.55 [[ 9.99881285e-01 -1.48278683e-02 -4.18923973e-03 1.42395337e+01] [ 1.48277924e-02 9.99890061e-01 -4.91652608e-05 5.28633299e-01] [ 4.18950818e-03 -1.29577529e-05 9.99991224e-01 -5.46134586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:0.53, Z:-0.55 [[ 9.99933158e-01 -1.09619683e-02 -3.67637130e-03 1.42695647e+01] [ 1.09618829e-02 9.99939916e-01 -4.33896928e-05 5.27266084e-01] [ 3.67662604e-03 3.08684081e-06 9.99993241e-01 -5.47261714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:0.53, Z:-0.55 [[ 9.99942744e-01 -9.75857673e-03 -4.39068976e-03 1.42991364e+01] [ 9.75844184e-03 9.99952384e-01 -5.21442418e-05 5.27399158e-01] [ 4.39098954e-03 9.29496562e-06 9.99990360e-01 -5.48355939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:0.53, Z:-0.55 [[ 9.99948473e-01 -9.04535610e-03 -4.60784948e-03 1.43289033e+01] [ 9.04519824e-03 9.99959090e-01 -5.50981076e-05 5.28697528e-01] [ 4.60815935e-03 1.34163566e-05 9.99989382e-01 -5.48534226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:0.53, Z:-0.55 [[ 9.99947058e-01 -9.20055959e-03 -4.60780492e-03 1.43581775e+01] [ 9.20038616e-03 9.99957674e-01 -5.88343297e-05 5.29175727e-01] [ 4.60815120e-03 1.64376302e-05 9.99989382e-01 -5.49208086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.39, Y:0.53, Z:-0.55 [[ 9.99946688e-01 -9.59097482e-03 -3.82544430e-03 1.43865009e+01] [ 9.59086583e-03 9.99954005e-01 -4.68351750e-05 5.30660550e-01] [ 3.82571754e-03 1.01433551e-05 9.99992682e-01 -5.49292267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.42, Y:0.53, Z:-0.55 [[ 9.99931545e-01 -1.08597656e-02 -4.35558447e-03 1.44170292e+01] [ 1.08596404e-02 9.99941031e-01 -5.23932414e-05 5.33209040e-01] [ 4.35589661e-03 5.08957379e-06 9.99990513e-01 -5.49819882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.45, Y:0.53, Z:-0.55 [[ 9.99908968e-01 -1.24910912e-02 -5.10182275e-03 1.44466589e+01] [ 1.24909372e-02 9.99921983e-01 -6.20503623e-05 5.29332004e-01] [ 5.10219980e-03 -1.68183395e-06 9.99986984e-01 -5.52351143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:0.53, Z:-0.55 [[ 9.99898791e-01 -1.32494751e-02 -5.18250846e-03 1.44760694e+01] [ 1.32493297e-02 9.99912222e-01 -6.23893303e-05 5.27247164e-01] [ 5.18288017e-03 -6.28174728e-06 9.99986569e-01 -5.53581863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.53, Z:-0.55 [[ 9.99884090e-01 -1.43825527e-02 -4.99495143e-03 1.45057237e+01] [ 1.43824298e-02 9.99896566e-01 -6.05195269e-05 5.28200235e-01] [ 4.99530521e-03 -1.13270264e-05 9.99987523e-01 -5.53656960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.53, Z:-0.55 [[ 9.99877988e-01 -1.49115567e-02 -4.65336320e-03 1.45364412e+01] [ 1.49114569e-02 9.99888816e-01 -5.61298225e-05 5.29216999e-01] [ 4.65368281e-03 -1.32654510e-05 9.99989171e-01 -5.53905255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.53, Z:-0.55 [[ 9.99855798e-01 -1.64327320e-02 -4.28362035e-03 1.45669719e+01] [ 1.64326615e-02 9.99864973e-01 -5.16699083e-05 5.29034174e-01] [ 4.28389103e-03 -1.87288258e-05 9.99990824e-01 -5.54195466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:0.53, Z:-0.55 [[ 9.99831017e-01 -1.80589757e-02 -3.43659493e-03 1.45972908e+01] [ 1.80589410e-02 9.99836923e-01 -4.11444898e-05 5.31015619e-01] [ 3.43677752e-03 -2.09237277e-05 9.99994094e-01 -5.53928389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:0.53, Z:-0.55 [[ 9.99822587e-01 -1.85549983e-02 -3.24131239e-03 1.46289767e+01] [ 1.85549712e-02 9.99827841e-01 -3.84427626e-05 5.29692325e-01] [ 3.24146767e-03 -2.17065155e-05 9.99994746e-01 -5.54682341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.66, Y:0.52, Z:-0.56 [[ 9.99811153e-01 -1.87585796e-02 -5.07677307e-03 1.46602155e+01] [ 1.87585149e-02 9.99824042e-01 -6.03761563e-05 5.24242627e-01] [ 5.07701234e-03 -3.48679686e-05 9.99987111e-01 -5.56378005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.53, Z:-0.56 [[ 9.99817242e-01 -1.84854369e-02 -4.87560155e-03 1.46897007e+01] [ 1.84853696e-02 9.99829129e-01 -5.88585966e-05 5.26113913e-01] [ 4.87585648e-03 -3.12794572e-05 9.99988112e-01 -5.55465371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.72, Y:0.53, Z:-0.56 [[ 9.99820054e-01 -1.83127880e-02 -4.94979061e-03 1.47190520e+01] [ 1.83127163e-02 9.99832306e-01 -5.97986874e-05 5.27326867e-01] [ 4.95005565e-03 -3.08561846e-05 9.99987748e-01 -5.55816920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.75, Y:0.52, Z:-0.56 [[ 9.99815535e-01 -1.85514832e-02 -4.97379989e-03 1.47496074e+01] [ 1.85514152e-02 9.99827906e-01 -5.98177984e-05 5.22686478e-01] [ 4.97405364e-03 -3.24642627e-05 9.99987629e-01 -5.57542016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.78, Y:0.52, Z:-0.56 [[ 9.99834636e-01 -1.78866851e-02 -3.28134608e-03 1.47804862e+01] [ 1.78866519e-02 9.99840020e-01 -3.94633686e-05 5.18161357e-01] [ 3.28152700e-03 -1.92354524e-05 9.99994616e-01 -5.57886172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.81, Y:0.52, Z:-0.56 [[ 9.99848485e-01 -1.70764704e-02 -3.37671003e-03 1.48108588e+01] [ 1.70764317e-02 9.99854186e-01 -4.03015298e-05 5.17111989e-01] [ 3.37690587e-03 -1.73667349e-05 9.99994298e-01 -5.58879462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:0.51, Z:-0.56 [[ 9.99877995e-01 -1.51602659e-02 -3.76330004e-03 1.48409404e+01] [ 1.51602031e-02 9.99885076e-01 -4.52155701e-05 5.12607322e-01] [ 3.76355303e-03 -1.18423393e-05 9.99992918e-01 -5.58657457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:0.51, Z:-0.56 [[ 9.99899985e-01 -1.38314452e-02 -2.95144566e-03 1.48713584e+01] [ 1.38314008e-02 9.99904341e-01 -3.54612433e-05 5.11169559e-01] [ 2.95165381e-03 -5.36493137e-06 9.99995644e-01 -5.58683847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:0.51, Z:-0.56 [[ 9.99934714e-01 -1.10309987e-02 -2.98086168e-03 1.49007026e+01] [ 1.10309400e-02 9.99939157e-01 -3.61316600e-05 5.08476534e-01] [ 2.98107888e-03 3.24759483e-06 9.99995557e-01 -5.59409754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.51, Z:-0.56 [[ 9.99960631e-01 -7.76714747e-03 -4.29051547e-03 1.49311890e+01] [ 7.76699756e-03 9.99969835e-01 -5.16023511e-05 5.05824822e-01] [ 4.29078685e-03 1.82758963e-05 9.99990794e-01 -5.59530262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.51, Z:-0.56 [[ 9.99976046e-01 -5.83799403e-03 -3.71825058e-03 1.49605505e+01] [ 5.83786566e-03 9.99982958e-01 -4.53761137e-05 5.05762317e-01] [ 3.71845212e-03 2.36683794e-05 9.99993086e-01 -5.59771164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.50, Z:-0.56 [[ 9.99992789e-01 -2.20273176e-03 -3.09358570e-03 1.49907256e+01] [ 2.20262498e-03 9.99997573e-01 -3.79236694e-05 5.02231918e-01] [ 3.09366173e-03 3.11093868e-05 9.99995214e-01 -5.60849181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.02, Y:0.50, Z:-0.56 [[ 9.99989988e-01 -3.06106529e-04 -4.46429042e-03 1.50190496e+01] [ 3.05864409e-04 9.99999952e-01 -5.49175926e-05 4.95827926e-01] [ 4.46430702e-03 5.35515752e-05 9.99990033e-01 -5.62571576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:0.49, Z:-0.56 [[ 9.99992771e-01 1.46664185e-04 -3.79952233e-03 1.50471114e+01] [-1.46860606e-04 9.99999988e-01 -5.14171279e-05 4.94754704e-01] [ 3.79951474e-03 5.19747563e-05 9.99992780e-01 -5.62687658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634203822000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:15.07, Y:0.50, Z:-0.56 [[ 9.99997389e-01 3.59685557e-04 -2.25690374e-03 1.50748651e+01] [-3.59752755e-04 9.99999935e-01 -2.93685039e-05 4.95312482e-01] [ 2.25689303e-03 3.01803546e-05 9.99997453e-01 -5.61489979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.10, Y:0.49, Z:-0.56 [[ 9.99992781e-01 5.28197058e-04 -3.76292016e-03 1.51034581e+01] [-5.28380900e-04 9.99999859e-01 -4.78621524e-05 4.93701762e-01] [ 3.76289435e-03 4.98500620e-05 9.99992919e-01 -5.62925350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.49, Z:-0.56 [[ 9.99990160e-01 1.25840226e-03 -4.25391913e-03 1.51325324e+01] [-1.25865800e-03 9.99999206e-01 -5.74411266e-05 4.92345678e-01] [ 4.25384347e-03 6.27947907e-05 9.99990950e-01 -5.64061325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.16, Y:0.49, Z:-0.57 [[ 9.99985424e-01 3.22093666e-03 -4.33327384e-03 1.51601229e+01] [-3.22121045e-03 9.99994810e-01 -5.62049155e-05 4.89682103e-01] [ 4.33307032e-03 7.01624833e-05 9.99990610e-01 -5.65285385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.19, Y:0.49, Z:-0.57 [[ 9.99975178e-01 5.04027160e-03 -4.92334601e-03 1.51867462e+01] [-5.04065083e-03 9.99987294e-01 -6.46220958e-05 4.87884995e-01] [ 4.92295774e-03 8.94373599e-05 9.99987878e-01 -5.65922978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:0.49, Z:-0.57 [[ 9.99971829e-01 5.60404574e-03 -4.99355831e-03 1.52158744e+01] [-5.60443981e-03 9.99984293e-01 -6.49245620e-05 4.89031976e-01] [ 4.99311604e-03 9.29088300e-05 9.99987530e-01 -5.66418180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.49, Z:-0.57 [[ 9.99956858e-01 7.05189191e-03 -6.04597276e-03 1.52434113e+01] [-7.05249839e-03 9.99975128e-01 -7.89969605e-05 4.94247574e-01] [ 6.04526530e-03 1.21632766e-04 9.99981720e-01 -5.67035540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.49, Z:-0.57 [[ 9.99962085e-01 6.61845020e-03 -5.65909823e-03 1.52723559e+01] [-6.61897520e-03 9.99978092e-01 -7.40472795e-05 4.94398803e-01] [ 5.65848417e-03 1.11501903e-04 9.99983984e-01 -5.68325452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.30, Y:0.49, Z:-0.57 [[ 9.99973127e-01 5.75294024e-03 -4.54406790e-03 1.53007736e+01] [-5.75327182e-03 9.99983448e-01 -5.99012989e-05 4.93206190e-01] [ 4.54364808e-03 8.60429470e-05 9.99989674e-01 -5.68810208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:0.49, Z:-0.57 [[ 9.99980206e-01 3.76726849e-03 -5.03932607e-03 1.53282825e+01] [-3.76765337e-03 9.99992900e-01 -6.68835817e-05 4.92996054e-01] [ 5.03903832e-03 8.58686916e-05 9.99987300e-01 -5.69987030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:0.49, Z:-0.57 [[ 9.99992242e-01 1.54506734e-04 -3.93601356e-03 1.53573617e+01] [-1.54714445e-04 9.99999987e-01 -5.24674633e-05 4.94857857e-01] [ 3.93600540e-03 5.30760144e-05 9.99992252e-01 -5.70983834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:0.50, Z:-0.57 [[ 9.99992597e-01 -1.55462103e-03 -3.51971228e-03 1.53866598e+01] [ 1.55446451e-03 9.99998791e-01 -4.72070541e-05 4.96295492e-01] [ 3.51978141e-03 4.17354368e-05 9.99993805e-01 -5.71477357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:0.50, Z:-0.57 [[ 9.99969305e-01 -4.84277542e-03 -6.15919382e-03 1.54151029e+01] [ 4.84236398e-03 9.99988272e-01 -8.17127574e-05 4.97594185e-01] [ 6.15951730e-03 5.18851910e-05 9.99981029e-01 -5.73473192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203822000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:15.44, Y:0.50, Z:-0.57 [[ 9.99954317e-01 -7.59380189e-03 -5.80506873e-03 1.54437478e+01] [ 7.59347940e-03 9.99971166e-01 -7.75909615e-05 5.01325082e-01] [ 5.80549056e-03 3.35067470e-05 9.99983147e-01 -5.73053589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:15.47, Y:0.50, Z:-0.57 [[ 9.99940508e-01 -9.57873133e-03 -5.21805189e-03 1.54720735e+01] [ 9.57847822e-03 9.99954123e-01 -7.34957438e-05 5.04059864e-01] [ 5.21851650e-03 2.35103750e-05 9.99986383e-01 -5.74070342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:0.51, Z:-0.57 [[ 9.99896824e-01 -1.29543906e-02 -6.20690080e-03 1.55007285e+01] [ 1.29541182e-02 9.99916088e-01 -8.40836386e-05 5.05256637e-01] [ 6.20746922e-03 3.67003657e-06 9.99980733e-01 -5.74211161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.53, Y:0.51, Z:-0.57 [[ 9.99860269e-01 -1.52480963e-02 -6.85118401e-03 1.55290730e+01] [ 1.52477906e-02 9.99883741e-01 -9.68520419e-05 5.07795036e-01] [ 6.85186430e-03 -7.62691025e-06 9.99976526e-01 -5.74756086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.56, Y:0.51, Z:-0.58 [[ 9.99841134e-01 -1.60387332e-02 -7.77594425e-03 1.55581633e+01] [ 1.60383868e-02 9.99871371e-01 -1.06908847e-04 5.10032641e-01] [ 7.77665872e-03 -1.78217388e-05 9.99969761e-01 -5.76468078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.59, Y:0.51, Z:-0.58 [[ 9.99786095e-01 -1.78601672e-02 -1.04296547e-02 1.55859205e+01] [ 1.78596284e-02 9.99840494e-01 -1.44802124e-04 5.14575477e-01] [ 1.04305773e-02 -4.14986076e-05 9.99945599e-01 -5.76955598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.61, Y:0.52, Z:-0.58 [[ 9.99774303e-01 -1.88830498e-02 -9.73511961e-03 1.56140373e+01] [ 1.88825855e-02 9.99821698e-01 -1.39609906e-04 5.17945597e-01] [ 9.73602009e-03 -4.42458321e-05 9.99952603e-01 -5.77021523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:15.64, Y:0.52, Z:-0.58 [[ 9.99782327e-01 -1.99151883e-02 -6.21959943e-03 1.56415411e+01] [ 1.99150016e-02 9.99801672e-01 -9.19526706e-05 5.22224825e-01] [ 6.22019717e-03 -3.19306776e-05 9.99980654e-01 -5.75965759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:0.52, Z:-0.58 [[ 9.99767421e-01 -2.06428926e-02 -6.24295250e-03 1.56704913e+01] [ 2.06427464e-02 9.99786912e-01 -8.78650195e-05 5.24806739e-01] [ 6.24343599e-03 -4.10271014e-05 9.99980509e-01 -5.77858563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.70, Y:0.53, Z:-0.58 [[ 9.99760016e-01 -2.05636652e-02 -7.55294044e-03 1.57011820e+01] [ 2.05634488e-02 9.99788544e-01 -1.06322311e-04 5.27410877e-01] [ 7.55352970e-03 -4.90177086e-05 9.99971470e-01 -5.78197963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:0.53, Z:-0.58 [[ 9.99753592e-01 -2.06059747e-02 -8.25521421e-03 1.57304701e+01] [ 2.06057116e-02 9.99787673e-01 -1.16941640e-04 5.30647040e-01] [ 8.25587111e-03 -5.31917378e-05 9.99965918e-01 -5.81067459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:0.54, Z:-0.58 [[ 9.99778913e-01 -1.98523894e-02 -6.92869553e-03 1.57600579e+01] [ 1.98521840e-02 9.99802921e-01 -9.84282452e-05 5.36289878e-01] [ 6.92928406e-03 -3.91432544e-05 9.99975991e-01 -5.80524946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:0.54, Z:-0.58 [[ 9.99791103e-01 -1.92558787e-02 -6.85287162e-03 1.57890086e+01] [ 1.92556651e-02 9.99814588e-01 -9.71592383e-05 5.42087719e-01] [ 6.85347190e-03 -3.48176586e-05 9.99976514e-01 -5.80060939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:0.54, Z:-0.58 [[ 9.99790955e-01 -1.92246864e-02 -6.96115198e-03 1.58182023e+01] [ 1.92244622e-02 9.99815188e-01 -9.91224212e-05 5.44006450e-01] [ 6.96177107e-03 -3.47227031e-05 9.99975766e-01 -5.80594666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:0.55, Z:-0.58 [[ 9.99796453e-01 -1.92909912e-02 -5.90843660e-03 1.58473090e+01] [ 1.92908295e-02 9.99813911e-01 -8.43592513e-05 5.46748406e-01] [ 5.90896448e-03 -2.96365631e-05 9.99982541e-01 -5.81768331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:0.55, Z:-0.58 [[ 9.99771407e-01 -2.07154903e-02 -5.29173168e-03 1.58776857e+01] [ 2.07153849e-02 9.99785411e-01 -7.47259224e-05 5.45971113e-01] [ 5.29214411e-03 -3.49114180e-05 9.99985996e-01 -5.82624119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.91, Y:0.55, Z:-0.58 [[ 9.99758505e-01 -2.15839991e-02 -4.13058953e-03 1.59068850e+01] [ 2.15839415e-02 9.99767038e-01 -5.85243065e-05 5.46496941e-01] [ 4.13089045e-03 -3.06442295e-05 9.99991467e-01 -5.83237828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.94, Y:0.55, Z:-0.58 [[ 9.99716608e-01 -2.33401499e-02 -4.68415154e-03 1.59379164e+01] [ 2.33400980e-02 9.99727581e-01 -6.57395123e-05 5.50308492e-01] [ 4.68440986e-03 -4.36076739e-05 9.99989027e-01 -5.83479019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.97, Y:0.55, Z:-0.58 [[ 9.99693131e-01 -2.41491938e-02 -5.51914356e-03 1.59693343e+01] [ 2.41491345e-02 9.99708364e-01 -7.73990797e-05 5.51627536e-01] [ 5.51940311e-03 -5.59072119e-05 9.99984766e-01 -5.84014532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.00, Y:0.55, Z:-0.58 [[ 9.99674856e-01 -2.48607884e-02 -5.66779779e-03 1.60002290e+01] [ 2.48607341e-02 9.99690921e-01 -8.00556891e-05 5.50796265e-01] [ 5.66803624e-03 -6.08759542e-05 9.99983935e-01 -5.84717531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.55, Z:-0.59 [[ 9.99680290e-01 -2.47705138e-02 -5.07339058e-03 1.60301535e+01] [ 2.47704708e-02 9.99693162e-01 -7.13203628e-05 5.49727601e-01] [ 5.07360052e-03 -5.43727125e-05 9.99987128e-01 -5.85081247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.55, Z:-0.58 [[ 9.99674585e-01 -2.50154838e-02 -4.99502278e-03 1.60619559e+01] [ 2.50154471e-02 9.99687062e-01 -6.98265363e-05 5.49341884e-01] [ 4.99520639e-03 -5.51489145e-05 9.99987522e-01 -5.84759082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:0.55, Z:-0.58 [[ 9.99674326e-01 -2.51347378e-02 -4.41440063e-03 1.60918084e+01] [ 2.51347131e-02 9.99684071e-01 -6.10968096e-05 5.50798598e-01] [ 4.41454165e-03 -4.98777812e-05 9.99990255e-01 -5.84735524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.55, Z:-0.58 [[ 9.99681857e-01 -2.48640192e-02 -4.23866736e-03 1.61227580e+01] [ 2.48639928e-02 9.99690841e-01 -5.89183157e-05 5.51051490e-01] [ 4.23882189e-03 -4.64906237e-05 9.99991015e-01 -5.84834716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.55, Z:-0.58 [[ 9.99717624e-01 -2.36084341e-02 -2.70461250e-03 1.61539308e+01] [ 2.36084195e-02 9.99721282e-01 -3.73284056e-05 5.49499167e-01] [ 2.70473994e-03 -2.65337615e-05 9.99996342e-01 -5.84778113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:0.55, Z:-0.59 [[ 9.99759713e-01 -2.18767114e-02 -1.38785615e-03 1.61846134e+01] [ 2.18767068e-02 9.99760676e-01 -1.84826811e-05 5.46410466e-01] [ 1.38792835e-03 -1.18834822e-05 9.99999037e-01 -5.85980217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.22, Y:0.55, Z:-0.59 [[ 9.99760981e-01 -2.18186648e-02 -1.38786337e-03 1.62172866e+01] [ 2.18186608e-02 9.99761945e-01 -1.79625772e-05 5.46774918e-01] [ 1.38792491e-03 -1.23230365e-05 9.99999037e-01 -5.86731949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.25, Y:0.55, Z:-0.59 [[ 9.99783178e-01 -2.07621212e-02 -1.59091523e-03 1.62484939e+01] [ 2.07621132e-02 9.99784444e-01 -2.15443612e-05 5.47117670e-01] [ 1.59101960e-03 -1.14910722e-05 9.99998734e-01 -5.85954752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:0.55, Z:-0.59 [[ 9.99810089e-01 -1.94547570e-02 -1.13981334e-03 1.62798505e+01] [ 1.94547536e-02 9.99810738e-01 -1.40267021e-05 5.52510878e-01] [ 1.13987051e-03 -8.15074947e-06 9.99999350e-01 -5.86261000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:0.56, Z:-0.59 [[ 9.99839197e-01 -1.79245205e-02 -5.39196173e-04 1.63115831e+01] [ 1.79245197e-02 9.99839343e-01 -6.33397977e-06 5.55336443e-01] [ 5.39223081e-04 -3.33187117e-06 9.99999855e-01 -5.86996916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:0.55, Z:-0.59 [[ 9.99854261e-01 -1.70718086e-02 9.59434057e-05 1.63426981e+01] [ 1.70718084e-02 9.99854266e-01 2.13083481e-06 5.54255905e-01] [-9.59658007e-05 -4.92596828e-07 9.99999995e-01 -5.88078230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954203822000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.38, Y:0.55, Z:-0.59 [[ 9.99881181e-01 -1.53994473e-02 -6.93278139e-04 1.63750195e+01] [ 1.53994452e-02 9.99881421e-01 -8.40090197e-06 5.52883296e-01] [ 6.93325300e-04 -2.27619493e-06 9.99999760e-01 -5.88283382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:0.56, Z:-0.59 [[ 9.99881678e-01 -1.53528586e-02 -9.59478194e-04 1.64057427e+01] [ 1.53528538e-02 9.99882138e-01 -1.22806720e-05 5.55031835e-01] [ 9.59553652e-04 -2.45150958e-06 9.99999540e-01 -5.89971865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.44, Y:0.56, Z:-0.59 [[ 9.99877578e-01 -1.56207615e-02 -9.06163449e-04 1.64374422e+01] [ 1.56207577e-02 9.99877988e-01 -1.12793011e-05 5.56215537e-01] [ 9.06229078e-04 -2.87703939e-06 9.99999589e-01 -5.90797379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.47, Y:0.56, Z:-0.59 [[ 9.99872207e-01 -1.59245122e-02 -1.40686698e-03 1.64699724e+01] [ 1.59245027e-02 9.99873197e-01 -1.79646299e-05 5.59331509e-01] [ 1.40697466e-03 -4.44132287e-06 9.99999010e-01 -5.90584236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:0.56, Z:-0.59 [[ 9.99876345e-01 -1.55358764e-02 -2.43537899e-03 1.65010484e+01] [ 1.55358443e-02 9.99879311e-01 -3.20915868e-05 5.58532033e-01] [ 2.43558364e-03 -5.74805034e-06 9.99997034e-01 -5.91654914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:0.56, Z:-0.59 [[ 9.99868209e-01 -1.60410865e-02 -2.49964649e-03 1.65328824e+01] [ 1.60410537e-02 9.99871333e-01 -3.31793903e-05 5.55463595e-01] [ 2.49985710e-03 -6.92194596e-06 9.99996875e-01 -5.92859482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:0.56, Z:-0.59 [[ 9.99849261e-01 -1.72478708e-02 -1.99175883e-03 1.65643632e+01] [ 1.72478527e-02 9.99851244e-01 -2.62744379e-05 5.55032369e-01] [ 1.99191572e-03 -8.08308568e-06 9.99998016e-01 -5.92036661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:16.60, Y:0.56, Z:-0.59 [[ 9.99840724e-01 -1.77116885e-02 -2.19613931e-03 1.65959419e+01] [ 1.77116683e-02 9.99843136e-01 -2.86785474e-05 5.58386452e-01] [ 2.19630276e-03 -1.02233114e-05 9.99997588e-01 -5.91276137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.63, Y:0.56, Z:-0.59 [[ 9.99841259e-01 -1.77252565e-02 -1.80886846e-03 1.66277440e+01] [ 1.77252426e-02 9.99842895e-01 -2.37157545e-05 5.56840583e-01] [ 1.80900465e-03 -8.35064245e-06 9.99998364e-01 -5.93453004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.66, Y:0.55, Z:-0.59 [[ 9.99869106e-01 -1.61322826e-02 -1.23294942e-03 1.66589343e+01] [ 1.61322752e-02 9.99869866e-01 -1.59571736e-05 5.54699608e-01] [ 1.23304640e-03 -3.93519445e-06 9.99999240e-01 -5.94615791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.69, Y:0.56, Z:-0.59 [[ 9.99897992e-01 -1.42829255e-02 5.65553232e-05 1.66901231e+01] [ 1.42829254e-02 9.99897994e-01 1.56672704e-06 5.56671717e-01] [-5.65719317e-05 -7.58791761e-07 9.99999998e-01 -5.94294189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:0.56, Z:-0.59 [[ 9.99908546e-01 -1.34531767e-02 1.38234191e-03 1.67223798e+01] [ 1.34531627e-02 9.99909502e-01 1.94534047e-05 5.57951612e-01] [-1.38247852e-03 -8.54754994e-07 9.99999044e-01 -5.93981175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:0.56, Z:-0.59 [[ 9.99917830e-01 -1.28010129e-02 6.82974572e-04 1.67541271e+01] [ 1.28010090e-02 9.99918064e-01 1.01388455e-05 5.58943400e-01] [-6.83048399e-04 -1.39524875e-06 9.99999767e-01 -5.94848795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.79, Y:0.56, Z:-0.60 [[ 9.99915618e-01 -1.29199666e-02 -1.35357596e-03 1.67867583e+01] [ 1.29199557e-02 9.99916534e-01 -1.67955274e-05 5.55965400e-01] [ 1.35367998e-03 -6.94031268e-07 9.99999084e-01 -5.97287509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.82, Y:0.56, Z:-0.60 [[ 9.99919311e-01 -1.26710357e-02 -9.03688820e-04 1.68179232e+01] [ 1.26710305e-02 9.99919719e-01 -1.13761239e-05 5.55709296e-01] [ 9.03760418e-04 -7.54627059e-08 9.99999592e-01 -5.98173100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.85, Y:0.56, Z:-0.60 [[ 9.99927361e-01 -1.20200332e-02 8.89533216e-04 1.68491274e+01] [ 1.20200271e-02 9.99927757e-01 1.22447187e-05 5.55839323e-01] [-8.89616135e-04 -1.55161589e-06 9.99999604e-01 -5.97577976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.88, Y:0.56, Z:-0.60 [[ 9.99930704e-01 -1.17572983e-02 5.94839677e-04 1.68812331e+01] [ 1.17572951e-02 9.99930881e-01 8.89178432e-06 5.57684657e-01] [-5.94903105e-04 -1.89746254e-06 9.99999823e-01 -5.97341873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:0.56, Z:-0.60 [[ 9.99927030e-01 -1.20753378e-02 3.46999459e-04 1.69124116e+01] [ 1.20753366e-02 9.99927090e-01 5.35220574e-06 5.58117920e-01] [-3.47038789e-04 -1.16167991e-06 9.99999940e-01 -5.98377913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494203822000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:16.95, Y:0.56, Z:-0.60 [[ 9.99911499e-01 -1.33031182e-02 -1.46874080e-04 1.69450657e+01] [ 1.33031182e-02 9.99911510e-01 -8.36410706e-07 5.55156891e-01] [ 1.46872210e-04 -1.11754657e-06 9.99999989e-01 -6.00800436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.98, Y:0.55, Z:-0.60 [[ 9.99887924e-01 -1.49253263e-02 -1.17191640e-03 1.69770407e+01] [ 1.49253200e-02 9.99888611e-01 -1.41393609e-05 5.51129817e-01] [ 1.17199689e-03 -3.35345101e-06 9.99999313e-01 -6.02600473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:17.01, Y:0.55, Z:-0.60 [[ 9.99876701e-01 -1.56654228e-02 -1.08521518e-03 1.70087822e+01] [ 1.56654173e-02 9.99877290e-01 -1.35209698e-05 5.49432387e-01] [ 1.08529383e-03 -3.48104606e-06 9.99999411e-01 -6.03012109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.04, Y:0.55, Z:-0.60 [[ 9.99864106e-01 -1.64233694e-02 -1.42938493e-03 1.70404038e+01] [ 1.64233606e-02 9.99865127e-01 -1.79399387e-05 5.48233177e-01] [ 1.42948678e-03 -5.53780331e-06 9.99998978e-01 -6.02857719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.07, Y:0.55, Z:-0.60 [[ 9.99872089e-01 -1.59543812e-02 -1.12363115e-03 1.70715002e+01] [ 1.59543759e-02 9.99872721e-01 -1.36684310e-05 5.45716371e-01] [ 1.12370621e-03 -4.26015117e-06 9.99999369e-01 -6.03179264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:0.54, Z:-0.60 [[ 9.99896320e-01 -1.43991085e-02 1.24118715e-04 1.71028888e+01] [ 1.43991083e-02 9.99896327e-01 2.39607779e-06 5.42329654e-01] [-1.24140348e-04 -6.08630547e-07 9.99999992e-01 -6.02929760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:0.54, Z:-0.60 [[ 9.99913910e-01 -1.31173465e-02 3.29029968e-04 1.71350645e+01] [ 1.31173455e-02 9.99913964e-01 5.30606958e-06 5.41641526e-01] [-3.29071261e-04 -9.89613013e-07 9.99999946e-01 -6.03630951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:0.54, Z:-0.60 [[ 9.99946005e-01 -1.03232624e-02 1.19027619e-03 1.71676420e+01] [ 1.03232504e-02 9.99946714e-01 1.62834644e-05 5.38400564e-01] [-1.19038086e-03 -3.99506610e-06 9.99999291e-01 -6.04479888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:0.53, Z:-0.61 [[ 9.99972956e-01 -7.30150528e-03 8.80817644e-04 1.71996953e+01] [ 7.30149728e-03 9.99973344e-01 1.22940870e-05 5.32776682e-01] [-8.80883930e-04 -5.86246684e-06 9.99999612e-01 -6.06677818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.23, Y:0.53, Z:-0.61 [[ 9.99983130e-01 -5.80841327e-03 5.04541220e-05 1.72304921e+01] [ 5.80841320e-03 9.99983131e-01 1.56605155e-06 5.30881582e-01] [-5.04623672e-05 -1.27296674e-06 9.99999999e-01 -6.07889173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:0.53, Z:-0.61 [[ 9.99992359e-01 -3.90892993e-03 -4.54718970e-05 1.72623030e+01] [ 3.90892993e-03 9.99992360e-01 -1.13718556e-08 5.31552849e-01] [ 4.54715940e-05 -1.66374691e-07 9.99999999e-01 -6.07945500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.29, Y:0.53, Z:-0.61 [[ 9.99995020e-01 -3.14711187e-03 -2.37933371e-04 1.72929204e+01] [ 3.14711131e-03 9.99995048e-01 -2.72892981e-06 5.32507384e-01] [ 2.37940781e-04 1.98011341e-06 9.99999972e-01 -6.06797732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:0.53, Z:-0.61 [[ 9.99993223e-01 -3.22674717e-03 -1.77269021e-03 1.73232140e+01] [ 3.22671416e-03 9.99994794e-01 -2.14787502e-05 5.31497260e-01] [ 1.77275029e-03 1.57586401e-05 9.99998429e-01 -6.08771517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:0.53, Z:-0.61 [[ 9.99989131e-01 -3.91609453e-03 -2.53014419e-03 1.73525863e+01] [ 3.91602560e-03 9.99992332e-01 -3.21952401e-05 5.27882579e-01] [ 2.53025087e-03 2.22867807e-05 9.99996799e-01 -6.10612196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:0.53, Z:-0.61 [[ 9.99986634e-01 -4.69760857e-03 -2.15990794e-03 1.73826453e+01] [ 4.69755940e-03 9.99988966e-01 -2.78390960e-05 5.25263642e-01] [ 2.16001489e-03 1.76924281e-05 9.99997667e-01 -6.11488364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.41, Y:0.52, Z:-0.61 [[ 9.99978242e-01 -6.53967782e-03 8.64394485e-04 1.74120134e+01] [ 6.53967103e-03 9.99978616e-01 1.06762197e-05 5.21384046e-01] [-8.64445820e-04 -5.02313185e-06 9.99999626e-01 -6.11452923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.44, Y:0.52, Z:-0.61 [[ 9.99973909e-01 -6.97275823e-03 1.88727693e-03 1.74442312e+01] [ 6.97272376e-03 9.99975690e-01 2.48434944e-05 5.20604919e-01] [-1.88740428e-03 -1.16833856e-05 9.99998219e-01 -6.12152653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:0.52, Z:-0.61 [[ 9.99968252e-01 -7.85383091e-03 1.34646972e-03 1.74765563e+01] [ 7.85381377e-03 9.99969158e-01 1.80129406e-05 5.20026137e-01] [-1.34656966e-03 -7.43744624e-06 9.99999093e-01 -6.12628597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:0.52, Z:-0.61 [[ 9.99958988e-01 -9.01651808e-03 8.51492380e-04 1.75085138e+01] [ 9.01651134e-03 9.99959350e-01 1.17567572e-05 5.19070259e-01] [-8.51563772e-04 -4.07878429e-06 9.99999637e-01 -6.13684374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:0.52, Z:-0.61 [[ 9.99953992e-01 -9.58680100e-03 -3.26194726e-04 1.75399810e+01] [ 9.58680045e-03 9.99954046e-01 -3.24553680e-06 5.18003626e-01] [ 3.26210850e-04 1.18223739e-07 9.99999947e-01 -6.14835527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:0.52, Z:-0.62 [[ 9.99955622e-01 -9.36149395e-03 -1.05697567e-03 1.75710403e+01] [ 9.36148584e-03 9.99956180e-01 -1.26149057e-05 5.18209842e-01] [ 1.05704745e-03 2.71948308e-06 9.99999441e-01 -6.15556286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.60, Y:0.52, Z:-0.62 [[ 9.99973181e-01 -7.20805249e-03 -1.29625612e-03 1.76010269e+01] [ 7.20803799e-03 9.99974022e-01 -1.58559635e-05 5.18641538e-01] [ 1.29633674e-03 6.51207488e-06 9.99999160e-01 -6.15123397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.63, Y:0.52, Z:-0.62 [[ 9.99986987e-01 -5.07363837e-03 5.33526208e-04 1.76311686e+01] [ 5.07363555e-03 9.99987129e-01 6.63854534e-06 5.21311711e-01] [-5.33553023e-04 -3.93154141e-06 9.99999858e-01 -6.16943062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.66, Y:0.52, Z:-0.62 [[ 9.99989900e-01 -4.42677302e-03 7.76446055e-04 1.76618568e+01] [ 4.42676548e-03 9.99990202e-01 1.14298005e-05 5.23223644e-01] [-7.76489044e-04 -7.99254045e-06 9.99999699e-01 -6.17777729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.69, Y:0.52, Z:-0.62 [[ 9.99991651e-01 -4.07803376e-03 -2.58574553e-04 1.76926795e+01] [ 4.07803322e-03 9.99991685e-01 -2.63359799e-06 5.23775408e-01] [ 2.58583143e-04 1.57910039e-06 9.99999967e-01 -6.19035433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:0.52, Z:-0.62 [[ 9.99990895e-01 -4.16789671e-03 -9.15244514e-04 1.77231197e+01] [ 4.16788839e-03 9.99991314e-01 -1.10041021e-05 5.23291647e-01] [ 9.15282429e-04 7.18936489e-06 9.99999581e-01 -6.20176563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:0.53, Z:-0.62 [[ 9.99986062e-01 -4.98682284e-03 -1.73429069e-03 1.77538825e+01] [ 4.98679326e-03 9.99987566e-01 -2.13783872e-05 5.25428358e-01] [ 1.73437573e-03 1.27295401e-05 9.99998496e-01 -6.21797943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:0.53, Z:-0.62 [[ 9.99982280e-01 -5.63469983e-03 -1.92070347e-03 1.77836842e+01] [ 5.63466480e-03 9.99984125e-01 -2.36453661e-05 5.28240474e-01] [ 1.92080621e-03 1.28224268e-05 9.99998155e-01 -6.22298652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:0.53, Z:-0.62 [[ 9.99975241e-01 -7.01282456e-03 -5.80590602e-04 1.78140286e+01] [ 7.01282159e-03 9.99975410e-01 -7.15614849e-06 5.30745692e-01] [ 5.80626510e-04 3.08439301e-06 9.99999831e-01 -6.22927624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:0.53, Z:-0.62 [[ 9.99949034e-01 -1.00058208e-02 1.34646584e-03 1.78446047e+01] [ 1.00058071e-02 9.99949941e-01 1.68537628e-05 5.30702196e-01] [-1.34656708e-03 -3.38042627e-06 9.99999093e-01 -6.23053613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.88, Y:0.53, Z:-0.62 [[ 9.99922152e-01 -1.23803112e-02 1.55517647e-03 1.78772691e+01] [ 1.23802948e-02 9.99923361e-01 2.01692771e-05 5.30353047e-01] [-1.55530699e-03 -9.14163780e-07 9.99998791e-01 -6.23930071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:0.53, Z:-0.63 [[ 9.99842710e-01 -1.77351128e-02 -1.42161817e-04 1.79082861e+01] [ 1.77351129e-02 9.99842721e-01 -9.23299232e-07 5.28511716e-01] [ 1.42155832e-04 -1.59810186e-06 9.99999990e-01 -6.25746268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:0.53, Z:-0.63 [[ 9.99739637e-01 -2.27789824e-02 -1.33260854e-03 1.79406364e+01] [ 2.27789824e-02 9.99740525e-01 -1.51719360e-05 5.28081046e-01] [ 1.33260836e-03 -1.51874807e-05 9.99999112e-01 -6.27562750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:0.52, Z:-0.63 [[ 9.99656213e-01 -2.61906500e-02 -1.22701284e-03 1.79725779e+01] [ 2.61906528e-02 9.99656966e-01 -1.37823994e-05 5.23336200e-01] [ 1.22695290e-03 -1.83586060e-05 9.99999247e-01 -6.27999233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.01, Y:0.52, Z:-0.63 [[ 9.99631516e-01 -2.71044665e-02 -1.47664906e-03 1.80050119e+01] [ 2.71044713e-02 9.99632606e-01 -1.67396724e-05 5.21193445e-01] [ 1.47656026e-03 -2.32902878e-05 9.99998910e-01 -6.28446904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.04, Y:0.52, Z:-0.63 [[ 9.99632211e-01 -2.71090113e-02 -7.37763493e-04 1.80355812e+01] [ 2.71090123e-02 9.99632483e-01 -8.63348649e-06 5.18757807e-01] [ 7.37726398e-04 -1.13697284e-05 9.99999728e-01 -6.28242331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.07, Y:0.52, Z:-0.63 [[ 9.99657688e-01 -2.61450635e-02 9.70747239e-04 1.80674494e+01] [ 2.61450639e-02 9.99658159e-01 1.22326100e-05 5.16896976e-01] [-9.70735220e-04 1.31518260e-05 9.99999529e-01 -6.28382671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.10, Y:0.52, Z:-0.63 [[ 9.99670402e-01 -2.56613655e-02 7.62146949e-04 1.80996774e+01] [ 2.56613652e-02 9.99670693e-01 1.02423415e-05 5.15015512e-01] [-7.62158801e-04 9.31876557e-06 9.99999710e-01 -6.29653704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:0.51, Z:-0.63 [[ 9.99702130e-01 -2.44035083e-02 3.45793469e-04 1.81322982e+01] [ 2.44035079e-02 9.99702190e-01 5.24391782e-06 5.10944445e-01] [-3.45818458e-04 3.19621785e-06 9.99999940e-01 -6.30773727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:0.51, Z:-0.63 [[ 9.99756404e-01 -2.20460749e-02 1.05003537e-03 1.81645186e+01] [ 2.20460728e-02 9.99756956e-01 1.36285577e-05 5.08295455e-01] [-1.05008062e-03 9.52391832e-06 9.99999449e-01 -6.31827801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.20, Y:0.51, Z:-0.63 [[ 9.99778641e-01 -2.09994067e-02 1.30139229e-03 1.81952073e+01] [ 2.09994033e-02 9.99779488e-01 1.62894150e-05 5.05961927e-01] [-1.30144738e-03 1.10426522e-05 9.99999153e-01 -6.32949798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.23, Y:0.51, Z:-0.63 [[ 9.99779966e-01 -2.09362444e-02 1.30138602e-03 1.82278788e+01] [ 2.09362402e-02 9.99780813e-01 1.68208796e-05 5.06255086e-01] [-1.30145294e-03 1.04289519e-05 9.99999153e-01 -6.33701536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.26, Y:0.50, Z:-0.63 [[ 9.99806814e-01 -1.96459071e-02 6.10376909e-04 1.82596631e+01] [ 1.96459057e-02 9.99807001e-01 8.25933446e-06 5.03178790e-01] [-6.10421369e-04 3.73366833e-06 9.99999814e-01 -6.34548657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:0.50, Z:-0.64 [[ 9.99822332e-01 -1.88150534e-02 1.13981756e-03 1.82908381e+01] [ 1.88150484e-02 9.99822981e-01 1.50516711e-05 5.02431461e-01] [-1.13989898e-03 6.39672559e-06 9.99999350e-01 -6.35090337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:0.50, Z:-0.63 [[ 9.99847507e-01 -1.73375676e-02 2.09087358e-03 1.83231121e+01] [ 1.73375523e-02 9.99849693e-01 2.54309428e-05 4.98875072e-01] [-2.09100022e-03 1.08235653e-05 9.99997814e-01 -6.34981667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:18.36, Y:0.50, Z:-0.64 [[ 9.99876587e-01 -1.56976939e-02 6.26806909e-04 1.83554656e+01] [ 1.56976917e-02 9.99876784e-01 8.36857594e-06 4.96510086e-01] [-6.26861043e-04 1.47187846e-06 9.99999804e-01 -6.35405389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:0.49, Z:-0.64 [[ 9.99895942e-01 -1.44193881e-02 4.31882641e-04 1.83865755e+01] [ 1.44193869e-02 9.99896035e-01 5.81443042e-06 4.94957966e-01] [-4.31921581e-04 4.13657536e-07 9.99999907e-01 -6.36898903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.42, Y:0.49, Z:-0.64 [[ 9.99924934e-01 -1.22523811e-02 -6.79393873e-05 1.84176177e+01] [ 1.22523811e-02 9.99924937e-01 -2.36041636e-07 4.90077336e-01] [ 6.79371796e-05 -5.96395349e-07 9.99999998e-01 -6.37789131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:0.49, Z:-0.64 [[ 9.99945256e-01 -1.04512410e-02 5.06877857e-04 1.84476371e+01] [ 1.04512392e-02 9.99945384e-01 6.11077531e-06 4.89563965e-01] [-5.06914039e-04 -8.12939045e-07 9.99999872e-01 -6.38450345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:0.49, Z:-0.64 [[ 9.99950686e-01 -9.87476443e-03 1.05571372e-03 1.84779992e+01] [ 9.87475619e-03 9.99951243e-01 1.30158534e-05 4.89719647e-01] [-1.05579078e-03 -2.59029588e-06 9.99999443e-01 -6.39544300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994203822000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.51, Y:0.49, Z:-0.64 [[ 9.99957953e-01 -9.14491406e-03 6.80816395e-04 1.85089873e+01] [ 9.14491050e-03 9.99958184e-01 8.33847743e-06 4.88492568e-01] [-6.80864181e-04 -2.11212181e-06 9.99999768e-01 -6.40029370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.54, Y:0.49, Z:-0.64 [[ 9.99953786e-01 -9.45053989e-03 1.76441714e-03 1.85397720e+01] [ 9.45051762e-03 9.99955343e-01 2.09619845e-05 4.89363715e-01] [-1.76453645e-03 -4.28636044e-06 9.99998443e-01 -6.39913403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:0.49, Z:-0.64 [[ 9.99935266e-01 -1.11966988e-02 2.02441696e-03 1.85721467e+01] [ 1.11966729e-02 9.99937315e-01 2.41087791e-05 4.89203065e-01] [-2.02456000e-03 -1.44048384e-06 9.99997951e-01 -6.40449888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:0.49, Z:-0.64 [[ 9.99925411e-01 -1.21742995e-02 9.79346532e-04 1.86043059e+01] [ 1.21742934e-02 9.99925890e-01 1.21832852e-05 4.88480756e-01] [-9.79422276e-04 -2.59524422e-07 9.99999520e-01 -6.42123897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.64, Y:0.49, Z:-0.64 [[ 9.99894662e-01 -1.44664845e-02 1.17736533e-03 1.86354470e+01] [ 1.44664779e-02 9.99895355e-01 1.41098510e-05 4.87158659e-01] [-1.17744624e-03 2.92396491e-06 9.99999307e-01 -6.43416764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.67, Y:0.49, Z:-0.64 [[ 9.99878962e-01 -1.54996908e-02 1.34929745e-03 1.86671784e+01] [ 1.54996837e-02 9.99879873e-01 1.57323405e-05 4.89236084e-01] [-1.34937921e-03 5.18324737e-06 9.99999090e-01 -6.43968574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.70, Y:0.49, Z:-0.64 [[ 9.99880724e-01 -1.54028752e-02 1.13582358e-03 1.86991821e+01] [ 1.54028694e-02 9.99881369e-01 1.38144805e-05 4.90953496e-01] [-1.13590162e-03 3.68210957e-06 9.99999355e-01 -6.44366193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.73, Y:0.49, Z:-0.64 [[ 9.99874762e-01 -1.56879027e-02 2.08557427e-03 1.87304972e+01] [ 1.56878865e-02 9.99876937e-01 2.41310202e-05 4.92347311e-01] [-2.08569618e-03 8.59025442e-06 9.99997825e-01 -6.44887285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.76, Y:0.49, Z:-0.65 [[ 9.99872315e-01 -1.58580305e-02 1.96892112e-03 1.87627895e+01] [ 1.58580159e-02 9.99874253e-01 2.30460715e-05 4.92719517e-01] [-1.96903900e-03 8.18005350e-06 9.99998061e-01 -6.45530894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:0.49, Z:-0.65 [[ 9.99870716e-01 -1.60184986e-02 1.39943804e-03 1.87943774e+01] [ 1.60184913e-02 9.99871696e-01 1.63707669e-05 4.93144621e-01] [-1.39952072e-03 6.04823572e-06 9.99999021e-01 -6.46637768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.83, Y:0.49, Z:-0.65 [[ 9.99865378e-01 -1.62423617e-02 2.32622776e-03 1.88263815e+01] [ 1.62423433e-02 9.99868084e-01 2.68154833e-05 4.93601930e-01] [-2.32635644e-03 1.09715164e-05 9.99997294e-01 -6.46954748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:18.86, Y:0.50, Z:-0.65 [[ 9.99864683e-01 -1.62526454e-02 2.54321604e-03 1.88585482e+01] [ 1.62526239e-02 9.99867917e-01 2.91065593e-05 4.95144982e-01] [-2.54335318e-03 1.22313131e-05 9.99996766e-01 -6.46651055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.89, Y:0.50, Z:-0.65 [[ 9.99846355e-01 -1.73356787e-02 2.59625202e-03 1.88901046e+01] [ 1.73356610e-02 9.99849726e-01 2.93132994e-05 4.98061479e-01] [-2.59637004e-03 1.56989493e-05 9.99996629e-01 -6.48135901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.92, Y:0.50, Z:-0.65 [[ 9.99834235e-01 -1.81348791e-02 1.62141489e-03 1.89215635e+01] [ 1.81348729e-02 9.99835549e-01 1.85504520e-05 4.98712892e-01] [-1.62148466e-03 1.08567761e-05 9.99998685e-01 -6.48386324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.95, Y:0.50, Z:-0.65 [[ 9.99826366e-01 -1.85042849e-02 2.19762083e-03 1.89539320e+01] [ 1.85042746e-02 9.99828781e-01 2.50145237e-05 4.97935536e-01] [-2.19770743e-03 1.56551988e-05 9.99997585e-01 -6.50035214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:0.50, Z:-0.65 [[ 9.99825418e-01 -1.84343583e-02 3.05100982e-03 1.89846904e+01] [ 1.84343406e-02 9.99830073e-01 3.39217061e-05 4.96217094e-01] [-3.05111669e-03 2.23275702e-05 9.99995345e-01 -6.50744312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:0.49, Z:-0.65 [[ 9.99817759e-01 -1.88169573e-02 3.22024992e-03 1.90173439e+01] [ 1.88169380e-02 9.99822945e-01 3.62911726e-05 4.94335729e-01] [-3.22036265e-03 2.43106843e-05 9.99994814e-01 -6.50451458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.05, Y:0.49, Z:-0.65 [[ 9.99811627e-01 -1.91648282e-02 3.06917138e-03 1.90495414e+01] [ 1.91648139e-02 9.99816338e-01 3.40631265e-05 4.94012602e-01] [-3.06926050e-03 2.47633885e-05 9.99995290e-01 -6.51773199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.08, Y:0.49, Z:-0.65 [[ 9.99810945e-01 -1.92999773e-02 2.36347203e-03 1.90809094e+01] [ 1.92999695e-02 9.99813738e-01 2.61128099e-05 4.93156718e-01] [-2.36353578e-03 1.95070650e-05 9.99997207e-01 -6.51689952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203822000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:19.11, Y:0.49, Z:-0.65 [[ 9.99841813e-01 -1.77370584e-02 1.32129922e-03 1.91124702e+01] [ 1.77370542e-02 9.99842686e-01 1.49106997e-05 4.93740937e-01] [-1.32135584e-03 8.52761498e-06 9.99999127e-01 -6.52234949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:0.49, Z:-0.65 [[ 9.99864861e-01 -1.63755658e-02 1.44929824e-03 1.91449398e+01] [ 1.63755591e-02 9.99865911e-01 1.64601093e-05 4.93386989e-01] [-1.44937345e-03 7.27518410e-06 9.99998950e-01 -6.54288973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:0.49, Z:-0.65 [[ 9.99905265e-01 -1.35385637e-02 2.48354214e-03 1.91758451e+01] [ 1.35385382e-02 9.99908349e-01 2.70823077e-05 4.91725116e-01] [-2.48368117e-03 6.54378804e-06 9.99996916e-01 -6.54744305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:0.49, Z:-0.66 [[ 9.99919455e-01 -1.25407175e-02 1.95284235e-03 1.92075441e+01] [ 1.25406991e-02 9.99921362e-01 2.16700255e-05 4.92273737e-01] [-1.95296054e-03 2.82172822e-06 9.99998093e-01 -6.56019159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:0.49, Z:-0.66 [[ 9.99920290e-01 -1.26249768e-02 1.50920324e-04 1.92390629e+01] [ 1.26249766e-02 9.99920302e-01 2.40279232e-06 4.91996630e-01] [-1.50938631e-04 -4.97235247e-07 9.99999989e-01 -6.59059683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.27, Y:0.49, Z:-0.66 [[ 9.99895100e-01 -1.44666772e-02 -7.09597360e-04 1.92702218e+01] [ 1.44666759e-02 9.99895352e-01 -6.88188830e-06 4.90313673e-01] [ 7.09622660e-04 -3.38434865e-06 9.99999748e-01 -6.60587281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203822000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.30, Y:0.49, Z:-0.66 [[ 9.99864946e-01 -1.63829871e-02 -1.29903068e-03 1.93004406e+01] [ 1.63829846e-02 9.99865790e-01 -1.26176707e-05 4.88961502e-01] [ 1.29906305e-03 -8.66603294e-06 9.99999156e-01 -6.58967808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.33, Y:0.49, Z:-0.66 [[ 9.99840558e-01 -1.78027731e-02 -1.38587740e-03 1.93315904e+01] [ 1.78027709e-02 9.99841518e-01 -1.38907090e-05 4.87007435e-01] [ 1.38590506e-03 -1.07839636e-05 9.99999040e-01 -6.61748018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:0.48, Z:-0.66 [[ 9.99779131e-01 -2.09211607e-02 -1.99861234e-03 1.93622124e+01] [ 2.09211615e-02 9.99781128e-01 -2.05173640e-05 4.82769465e-01] [ 1.99860415e-03 -2.13004591e-05 9.99998003e-01 -6.62548120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:0.48, Z:-0.66 [[ 9.99753099e-01 -2.21785551e-02 -1.36146681e-03 1.93929609e+01] [ 2.21785564e-02 9.99754025e-01 -1.41591775e-05 4.80786907e-01] [ 1.36144595e-03 -1.60396868e-05 9.99999073e-01 -6.63098414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:0.48, Z:-0.66 [[ 9.99700885e-01 -2.44460363e-02 7.29408200e-04 1.94231791e+01] [ 2.44460373e-02 9.99701151e-01 7.58580388e-06 4.75043796e-01] [-7.29375660e-04 1.02476052e-05 9.99999734e-01 -6.63126173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:19.45, Y:0.47, Z:-0.66 [[ 9.99675426e-01 -2.54525657e-02 1.09974126e-03 1.94549854e+01] [ 2.54525679e-02 9.99676031e-01 1.19615961e-05 4.70496555e-01] [-1.09968943e-03 1.60335254e-05 9.99999395e-01 -6.62749207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:0.47, Z:-0.66 [[ 9.99671794e-01 -2.56097529e-02 6.67681287e-04 1.94855079e+01] [ 2.56097538e-02 9.99672016e-01 7.19420389e-06 4.68741364e-01] [-6.67646540e-04 9.90731067e-06 9.99999777e-01 -6.64562786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954203822000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.52, Y:0.46, Z:-0.66 [[ 9.99709442e-01 -2.41005670e-02 4.41302602e-04 1.95169324e+01] [ 2.41005671e-02 9.99709539e-01 5.14096763e-06 4.63010989e-01] [-4.41298321e-04 5.49616907e-06 9.99999903e-01 -6.64179809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:19.55, Y:0.46, Z:-0.67 [[ 9.99725639e-01 -2.34076137e-02 8.54908519e-04 1.95470242e+01] [ 2.34076142e-02 9.99726004e-01 9.39248478e-06 4.59401255e-01] [-8.54894133e-04 1.06214610e-05 9.99999635e-01 -6.66512615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:0.45, Z:-0.67 [[ 9.99781582e-01 -2.08907893e-02 6.02512436e-04 1.95788306e+01] [ 2.08907891e-02 9.99781764e-01 6.74041275e-06 4.52390099e-01] [-6.02521758e-04 5.84801968e-06 9.99999818e-01 -6.67106796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.61, Y:0.45, Z:-0.67 [[ 9.99857610e-01 -1.68699253e-02 -4.06873441e-04 1.96098907e+01] [ 1.68699251e-02 9.99857693e-01 -3.89906674e-06 4.46698099e-01] [ 4.06881317e-04 -2.96541294e-06 9.99999917e-01 -6.66226337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:0.45, Z:-0.67 [[ 9.99890698e-01 -1.47839289e-02 1.62982454e-04 1.96392514e+01] [ 1.47839289e-02 9.99890712e-01 1.39413844e-06 4.46026445e-01] [-1.62985253e-04 1.01553495e-06 9.99999987e-01 -6.67067219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.67, Y:0.44, Z:-0.67 [[ 9.99945732e-01 -1.02249279e-02 1.99610964e-03 1.96698992e+01] [ 1.02249072e-02 9.99947724e-01 2.05408429e-05 4.44514458e-01] [-1.99621532e-03 -1.29692259e-07 9.99998008e-01 -6.67478205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:0.44, Z:-0.67 [[ 9.99974582e-01 -7.07249601e-03 9.02557097e-04 1.97012612e+01] [ 7.07249002e-03 9.99974990e-01 9.82532001e-06 4.37786529e-01] [-9.02604014e-04 -3.44174422e-06 9.99999593e-01 -6.68663271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:0.44, Z:-0.67 [[ 9.99984912e-01 -5.35142936e-03 -1.24020417e-03 1.97326211e+01] [ 5.35141841e-03 9.99985681e-01 -1.21427305e-05 4.35786965e-01] [ 1.24025139e-03 5.50569591e-06 9.99999231e-01 -6.70082586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:0.43, Z:-0.67 [[ 9.99987601e-01 -4.91066637e-03 -8.26452143e-04 1.97617262e+01] [ 4.91066082e-03 9.99987943e-01 -8.75264125e-06 4.34326362e-01] [ 8.26485159e-04 4.69410657e-06 9.99999658e-01 -6.71432878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:0.43, Z:-0.67 [[ 9.99992278e-01 -3.88968619e-03 -5.59996812e-04 1.97917762e+01] [ 3.88968360e-03 9.99992435e-01 -5.70960723e-06 4.26194679e-01] [ 5.60014784e-04 3.53135273e-06 9.99999843e-01 -6.72327893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:19.82, Y:0.42, Z:-0.67 [[ 9.99998314e-01 -1.83127144e-03 -1.33160899e-04 1.98225089e+01] [ 1.83127128e-03 9.99998323e-01 -1.36523380e-06 4.24473903e-01] [ 1.33163176e-04 1.12137777e-06 9.99999991e-01 -6.69689016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:0.42, Z:-0.67 [[ 9.99998738e-01 -1.09839302e-03 1.14793848e-03 1.98526685e+01] [ 1.09837925e-03 9.99999397e-01 1.26332854e-05 4.24522036e-01] [-1.14795167e-03 -1.13723976e-05 9.99999341e-01 -6.71284691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:0.42, Z:-0.67 [[ 9.99998371e-01 7.25807878e-04 1.65293048e-03 1.98838562e+01] [-7.25837607e-04 9.99999736e-01 1.73856666e-05 4.23713449e-01] [-1.65291743e-03 -1.85853973e-05 9.99998634e-01 -6.71884288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.92, Y:0.42, Z:-0.67 [[ 9.99998484e-01 1.55857785e-03 7.76367977e-04 1.99153114e+01] [-1.55858489e-03 9.99998785e-01 8.45884314e-06 4.22596744e-01] [-7.76353850e-04 -9.66886572e-06 9.99999699e-01 -6.73601816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:0.42, Z:-0.67 [[ 9.99998923e-01 1.33255618e-03 6.14731990e-04 1.99459737e+01] [-1.33256045e-03 9.99999112e-01 6.52380018e-06 4.22370725e-01] [-6.14722751e-04 -7.34296069e-06 9.99999811e-01 -6.74356540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:0.42, Z:-0.68 [[ 9.99998866e-01 -1.39729766e-03 5.61850074e-04 1.99760949e+01] [ 1.39729468e-03 9.99999024e-01 5.70411635e-06 4.21324073e-01] [-5.61857496e-04 -4.91903976e-06 9.99999842e-01 -6.75934630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.01, Y:0.42, Z:-0.68 [[ 9.99987657e-01 -4.91326959e-03 -7.38360016e-04 2.00065709e+01] [ 4.91326561e-03 9.99987930e-01 -7.20360162e-06 4.20678033e-01] [ 7.38386497e-04 3.57575383e-06 9.99999727e-01 -6.76082982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:0.42, Z:-0.68 [[ 9.99979610e-01 -6.34929499e-03 -6.83278509e-04 2.00361853e+01] [ 6.34929178e-03 9.99979843e-01 -6.86237800e-06 4.20888742e-01] [ 6.83308308e-04 2.52390345e-06 9.99999767e-01 -6.76793241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:0.42, Z:-0.68 [[ 9.99965414e-01 -8.31619130e-03 1.05298821e-04 2.00657820e+01] [ 8.31619126e-03 9.99965420e-01 7.97652343e-07 4.20266766e-01] [-1.05301813e-04 7.80603762e-08 9.99999994e-01 -6.76814017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:0.42, Z:-0.68 [[ 9.99956191e-01 -9.33152423e-03 7.34616264e-04 2.00962534e+01] [ 9.33152127e-03 9.99956460e-01 7.45565833e-06 4.19035285e-01] [-7.34653852e-04 -6.00244409e-07 9.99999730e-01 -6.77591860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:0.42, Z:-0.68 [[ 9.99925676e-01 -1.21537336e-02 9.64378320e-04 2.01265909e+01] [ 1.21537295e-02 9.99926141e-01 1.00599123e-05 4.16352338e-01] [-9.64429357e-04 1.66162867e-06 9.99999535e-01 -6.77317746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.16, Y:0.41, Z:-0.68 [[ 9.99882037e-01 -1.53239466e-02 -1.04338579e-03 2.01569015e+01] [ 1.53239442e-02 9.99882581e-01 -1.02845219e-05 4.13561242e-01] [ 1.04342087e-03 -5.70547696e-06 9.99999456e-01 -6.79194890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.19, Y:0.41, Z:-0.68 [[ 9.99881856e-01 -1.53357853e-02 -1.04338007e-03 2.01870568e+01] [ 1.53357824e-02 9.99882400e-01 -1.08487369e-05 4.13905959e-01] [ 1.04342375e-03 -5.15359456e-06 9.99999456e-01 -6.79888856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.22, Y:0.41, Z:-0.68 [[ 9.99840197e-01 -1.77978803e-02 -1.67817211e-03 2.02174192e+01] [ 1.77978768e-02 9.99841605e-01 -1.70106237e-05 4.09760706e-01] [ 1.67820905e-03 -1.28599952e-05 9.99998592e-01 -6.81994624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674203822000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.25, Y:0.41, Z:-0.68 [[ 9.99828765e-01 -1.83696592e-02 -2.23528590e-03 2.02469867e+01] [ 1.83696531e-02 9.99831263e-01 -2.32816283e-05 4.07439428e-01] [ 2.23533640e-03 -1.77837848e-05 9.99997501e-01 -6.81571923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:0.40, Z:-0.68 [[ 9.99827184e-01 -1.84801517e-02 -2.02122401e-03 2.02759542e+01] [ 1.84801461e-02 9.99829227e-01 -2.14606821e-05 4.04302714e-01] [ 2.02127544e-03 -1.58955416e-05 9.99997957e-01 -6.82366654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:0.40, Z:-0.68 [[ 9.99902626e-01 -1.38943491e-02 -1.29862019e-03 2.03043943e+01] [ 1.38943421e-02 9.99903469e-01 -1.43797506e-05 4.04721377e-01] [ 1.29869463e-03 -3.66512289e-06 9.99999157e-01 -6.81867312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:0.41, Z:-0.68 [[ 9.99936271e-01 -1.10373302e-02 -2.37307257e-03 2.03336619e+01] [ 1.10373038e-02 9.99939087e-01 -2.42434443e-05 4.05191283e-01] [ 2.37319560e-03 -1.95042349e-06 9.99997184e-01 -6.82756611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:0.41, Z:-0.68 [[ 9.99968411e-01 -6.85134954e-03 -4.02949851e-03 2.03635022e+01] [ 6.85123625e-03 9.99976529e-01 -4.19172015e-05 4.05651182e-01] [ 4.02969112e-03 1.43088311e-05 9.99991881e-01 -6.84636649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.39, Y:0.41, Z:-0.69 [[ 9.99976128e-01 -5.61492289e-03 -4.02683036e-03 2.03911989e+01] [ 5.61479545e-03 9.99984236e-01 -4.29537560e-05 4.05284913e-01] [ 4.02700806e-03 2.03429019e-05 9.99991891e-01 -6.85251712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:0.41, Z:-0.69 [[ 9.99974530e-01 -6.00545337e-03 -3.85655786e-03 2.04201275e+01] [ 6.00532728e-03 9.99981967e-01 -4.42738324e-05 4.06225104e-01] [ 3.85675420e-03 2.11128127e-05 9.99992562e-01 -6.85783838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:0.41, Z:-0.69 [[ 9.99970158e-01 -7.48902366e-03 -1.89695138e-03 2.04492642e+01] [ 7.48899153e-03 9.99971957e-01 -2.40429626e-05 4.08879718e-01] [ 1.89707824e-03 9.83599225e-06 9.99998200e-01 -6.85503530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:0.41, Z:-0.69 [[ 9.99949682e-01 -1.00112493e-02 -6.38530795e-04 2.04791991e+01] [ 1.00112466e-02 9.99949886e-01 -7.38492958e-06 4.06500325e-01] [ 6.38572728e-04 9.92068734e-07 9.99999796e-01 -6.85839604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:0.41, Z:-0.69 [[ 9.99935527e-01 -1.13472137e-02 -4.28447495e-04 2.05086647e+01] [ 1.13472126e-02 9.99935618e-01 -4.86219395e-06 4.05814262e-01] [ 4.28475083e-04 1.95631059e-10 9.99999908e-01 -6.86711740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.54, Y:0.41, Z:-0.69 [[ 9.99900585e-01 -1.40690862e-02 -9.38265919e-04 2.05396313e+01] [ 1.40690830e-02 9.99901026e-01 -1.00343690e-05 4.06177903e-01] [ 9.38314229e-04 -3.16716964e-06 9.99999560e-01 -6.87762781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203822000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.57, Y:0.41, Z:-0.69 [[ 9.99865799e-01 -1.61907345e-02 -2.49868496e-03 2.05694243e+01] [ 1.61907184e-02 9.99868921e-01 -2.66535565e-05 4.07130931e-01] [ 2.49878898e-03 -1.38055250e-05 9.99996878e-01 -6.87887557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:0.41, Z:-0.69 [[ 9.99844633e-01 -1.73272247e-02 -3.23683672e-03 2.05993801e+01] [ 1.73272015e-02 9.99849872e-01 -3.52188964e-05 4.07885171e-01] [ 3.23696103e-03 -2.08718975e-05 9.99994761e-01 -6.89916814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.63, Y:0.41, Z:-0.69 [[ 9.99834131e-01 -1.79089923e-02 -3.31332322e-03 2.06277439e+01] [ 1.79089583e-02 9.99839621e-01 -3.99200829e-05 4.07181982e-01] [ 3.31350676e-03 -1.94247061e-05 9.99994510e-01 -6.90295067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:0.41, Z:-0.69 [[ 9.99855368e-01 -1.67218692e-02 -3.10204387e-03 2.06562568e+01] [ 1.67218314e-02 9.99860180e-01 -3.81435506e-05 4.07920431e-01] [ 3.10224797e-03 -1.37338207e-05 9.99995188e-01 -6.91182308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.69, Y:0.41, Z:-0.69 [[ 9.99866721e-01 -1.60319144e-02 -3.08512755e-03 2.06852164e+01] [ 1.60318717e-02 9.99871481e-01 -3.85747460e-05 4.06748895e-01] [ 3.08534947e-03 -1.08907643e-05 9.99995240e-01 -6.91970982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.71, Y:0.40, Z:-0.69 [[ 9.99887358e-01 -1.48707453e-02 -2.03266629e-03 2.07142621e+01] [ 1.48707278e-02 9.99889424e-01 -2.37276996e-05 4.04663684e-01] [ 2.03279437e-03 -6.50220021e-06 9.99997934e-01 -6.91528186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.74, Y:0.41, Z:-0.69 [[ 9.99885996e-01 -1.50641179e-02 -1.03304234e-03 2.07433624e+01] [ 1.50641130e-02 9.99886530e-01 -1.24963828e-05 4.08916335e-01] [ 1.03311336e-03 -3.06690839e-06 9.99999466e-01 -6.91855878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.77, Y:0.41, Z:-0.69 [[ 9.99878299e-01 -1.55685910e-02 -1.00311261e-03 2.07738433e+01] [ 1.55685875e-02 9.99878802e-01 -1.13305656e-05 4.11125043e-01] [ 1.00316744e-03 -4.28785969e-06 9.99999497e-01 -6.92023763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:0.41, Z:-0.69 [[ 9.99835410e-01 -1.81277259e-02 -7.34226822e-04 2.08035989e+01] [ 1.81277245e-02 9.99835679e-01 -8.58542606e-06 4.09982301e-01] [ 7.34261808e-04 -4.72584859e-06 9.99999730e-01 -6.94158172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:0.41, Z:-0.69 [[ 9.99806219e-01 -1.96743618e-02 6.66858186e-04 2.08337216e+01] [ 1.96743612e-02 9.99806441e-01 7.54064092e-06 4.08331624e-01] [-6.66877467e-04 5.58082912e-06 9.99999778e-01 -6.94539988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:0.40, Z:-0.69 [[ 9.99737684e-01 -2.28105737e-02 2.05945268e-03 2.08644093e+01] [ 2.28105736e-02 9.99739805e-01 2.35424703e-05 4.03349194e-01] [-2.05945384e-03 2.34410021e-05 9.99997879e-01 -6.94153245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:0.40, Z:-0.70 [[ 9.99710483e-01 -2.40306656e-02 1.21511133e-03 2.08948618e+01] [ 2.40306667e-02 9.99711222e-01 1.37253461e-05 4.02646756e-01] [-1.21509026e-03 1.54785630e-05 9.99999262e-01 -6.95237502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:0.40, Z:-0.70 [[ 9.99664925e-01 -2.58627154e-02 -1.07574712e-03 2.09248133e+01] [ 2.58627170e-02 9.99665504e-01 -1.24346980e-05 4.02432788e-01] [ 1.07570889e-03 -1.53912119e-05 9.99999421e-01 -6.96070786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.95, Y:0.40, Z:-0.70 [[ 9.99679081e-01 -2.53150474e-02 -9.40310761e-04 2.09546603e+01] [ 2.53150481e-02 9.99679523e-01 -1.12137257e-05 4.02883146e-01] [ 9.40293289e-04 -1.25938851e-05 9.99999558e-01 -6.97929547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:20.98, Y:0.40, Z:-0.70 [[ 9.99719080e-01 -2.35570071e-02 -2.61305209e-03 2.09840031e+01] [ 2.35570086e-02 9.99722495e-01 -3.02360738e-05 3.99904615e-01] [ 2.61303923e-03 -3.13281106e-05 9.99996586e-01 -6.97943049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.01, Y:0.40, Z:-0.70 [[ 9.99733329e-01 -2.28099126e-02 -3.60252802e-03 2.10126462e+01] [ 2.28099097e-02 9.99739819e-01 -4.18833514e-05 3.98055528e-01] [ 3.60254607e-03 -4.03011567e-05 9.99993510e-01 -7.00011038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.04, Y:0.40, Z:-0.70 [[ 9.99786208e-01 -2.04488726e-02 -3.06286806e-03 2.10415816e+01] [ 2.04488488e-02 9.99790900e-01 -3.90998731e-05 3.97430528e-01] [ 3.06302716e-03 -2.35406119e-05 9.99995309e-01 -6.99954564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.07, Y:0.40, Z:-0.70 [[ 9.99847487e-01 -1.72688962e-02 -2.60552333e-03 2.10705517e+01] [ 1.72688648e-02 9.99850881e-01 -3.45276923e-05 3.99900188e-01] [ 2.60573105e-03 -1.04720039e-05 9.99996605e-01 -6.99216692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:0.40, Z:-0.70 [[ 9.99880100e-01 -1.52537723e-02 -2.66625164e-03 2.10989650e+01] [ 1.52537406e-02 9.99883654e-01 -3.22095413e-05 4.01144874e-01] [ 2.66643275e-03 -8.46463166e-06 9.99996445e-01 -7.01047530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:0.40, Z:-0.70 [[ 9.99931526e-01 -1.14971167e-02 -2.18171862e-03 2.11273868e+01] [ 1.14970787e-02 9.99933906e-01 -2.99643227e-05 4.01392037e-01] [ 2.18191892e-03 4.87888017e-06 9.99997620e-01 -7.02342304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:0.40, Z:-0.70 [[ 9.99946848e-01 -1.01023039e-02 -2.06007523e-03 2.11571748e+01] [ 1.01022734e-02 9.99948970e-01 -2.52045750e-05 4.01278935e-01] [ 2.06022473e-03 4.39179207e-06 9.99997878e-01 -7.03214878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:0.40, Z:-0.70 [[ 9.99952143e-01 -9.37044283e-03 -2.81175727e-03 2.11871938e+01] [ 9.37038353e-03 9.99956096e-01 -3.42638119e-05 4.03476248e-01] [ 2.81195489e-03 7.91492809e-06 9.99996046e-01 -7.04313254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.22, Y:0.41, Z:-0.70 [[ 9.99929147e-01 -1.11813800e-02 -4.08381401e-03 2.12154436e+01] [ 1.11812693e-02 9.99937486e-01 -4.99380598e-05 4.08441749e-01] [ 4.08411709e-03 4.27229720e-06 9.99991660e-01 -7.04031925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:0.41, Z:-0.71 [[ 9.99904393e-01 -1.32706569e-02 -3.88516404e-03 2.12433238e+01] [ 1.32705552e-02 9.99911941e-01 -5.19738137e-05 4.08372319e-01] [ 3.88551164e-03 4.10560909e-07 9.99992451e-01 -7.06180092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:0.40, Z:-0.71 [[ 9.99809758e-01 -1.90810181e-02 -4.04509650e-03 2.12711122e+01] [ 1.90809641e-02 9.99817940e-01 -5.19437700e-05 4.03921460e-01] [ 4.04535119e-03 -2.52504532e-05 9.99991817e-01 -7.07448331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:0.40, Z:-0.71 [[ 9.99702102e-01 -2.42439663e-02 -2.81744179e-03 2.12992457e+01] [ 2.42439509e-02 9.99706071e-01 -3.96073390e-05 4.00476862e-01] [ 2.81757390e-03 -2.87103804e-05 9.99996030e-01 -7.08286672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:21.33, Y:0.40, Z:-0.71 [[ 9.99663403e-01 -2.59000216e-02 -1.50673910e-03 2.13272197e+01] [ 2.59000204e-02 9.99664538e-01 -2.02821447e-05 3.99464976e-01] [ 1.50675895e-03 -1.87492555e-05 9.99998865e-01 -7.08277211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.36, Y:0.40, Z:-0.71 [[ 9.99621442e-01 -2.75087685e-02 -4.90871991e-04 2.13564691e+01] [ 2.75087685e-02 9.99621562e-01 -6.72181086e-06 3.96544746e-01] [ 4.90871136e-04 -6.78401772e-06 9.99999879e-01 -7.07694964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.39, Y:0.39, Z:-0.71 [[ 9.99661240e-01 -2.59385066e-02 -2.14459818e-03 2.13861817e+01] [ 2.59385070e-02 9.99663540e-01 -2.76032254e-05 3.94265627e-01] [ 2.14459259e-03 -2.80338003e-05 9.99997700e-01 -7.08886151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:0.39, Z:-0.71 [[ 9.99747323e-01 -2.18446986e-02 -5.30087399e-03 2.14144627e+01] [ 2.18446421e-02 9.99761375e-01 -6.85654396e-05 3.93934292e-01] [ 5.30110686e-03 -4.72475805e-05 9.99985948e-01 -7.10762389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:0.39, Z:-0.71 [[ 9.99803144e-01 -1.91203973e-02 -5.29946329e-03 2.14424382e+01] [ 1.91202798e-02 9.99817188e-01 -7.28355295e-05 3.94231286e-01] [ 5.29988713e-03 -2.85060297e-05 9.99985955e-01 -7.11583712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:21.47, Y:0.39, Z:-0.71 [[ 9.99904093e-01 -1.35953559e-02 -2.64041830e-03 2.14694091e+01] [ 1.35953076e-02 9.99907579e-01 -3.62296038e-05 3.93655109e-01] [ 2.64066682e-03 3.28830154e-07 9.99996513e-01 -7.09172140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.50, Y:0.39, Z:-0.71 [[ 9.99932558e-01 -1.14190142e-02 -2.11793068e-03 2.14979088e+01] [ 1.14189797e-02 9.99934801e-01 -2.83546409e-05 3.92300693e-01] [ 2.11811637e-03 4.16812113e-06 9.99997757e-01 -7.10582180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.53, Y:0.39, Z:-0.71 [[ 9.99937115e-01 -1.10443940e-02 -1.94601143e-03 2.15273471e+01] [ 1.10443645e-02 9.99939009e-01 -2.59081765e-05 3.92791502e-01] [ 1.94617888e-03 4.41408770e-06 9.99998106e-01 -7.11505308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.56, Y:0.39, Z:-0.71 [[ 9.99930609e-01 -1.17585090e-02 -7.17575115e-04 2.15560314e+01] [ 1.17585047e-02 9.99930866e-01 -1.02236511e-05 3.90745423e-01] [ 7.17645722e-04 1.78533127e-06 9.99999742e-01 -7.13078477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.59, Y:0.39, Z:-0.71 [[ 9.99917315e-01 -1.28593236e-02 7.44151209e-07 2.15855373e+01] [ 1.28593236e-02 9.99917315e-01 -5.52755056e-07 3.87003281e-01] [-7.36981643e-07 5.62278632e-07 1.00000000e+00 -7.13278638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.62, Y:0.39, Z:-0.71 [[ 9.99907916e-01 -1.35505827e-02 7.35182837e-04 2.16153987e+01] [ 1.35505795e-02 9.99908187e-01 9.34504323e-06 3.85801150e-01] [-7.35241968e-04 6.17970780e-07 9.99999730e-01 -7.13558988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:0.38, Z:-0.71 [[ 9.99887012e-01 -1.50320690e-02 -5.61419792e-06 2.16460136e+01] [ 1.50320690e-02 9.99887012e-01 1.93009005e-07 3.84141775e-01] [ 5.61066224e-06 -2.77380208e-07 1.00000000e+00 -7.14319043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:21.68, Y:0.38, Z:-0.71 [[ 9.99879226e-01 -1.55241927e-02 -7.30197705e-04 2.16767972e+01] [ 1.55241899e-02 9.99879492e-01 -9.55213499e-06 3.84878312e-01] [ 7.30258000e-04 -1.78474647e-06 9.99999733e-01 -7.13885685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174203822000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:21.71, Y:0.38, Z:-0.72 [[ 9.99856200e-01 -1.68206254e-02 -2.15526134e-03 2.17065748e+01] [ 1.68206024e-02 9.99858523e-01 -2.88120912e-05 3.83595734e-01] [ 2.15544106e-03 -7.44484597e-06 9.99997677e-01 -7.15404088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:0.38, Z:-0.72 [[ 9.99835921e-01 -1.78797569e-02 -2.90592247e-03 2.17354306e+01] [ 1.78797088e-02 9.99840144e-01 -4.25580017e-05 3.80842855e-01] [ 2.90621887e-03 -9.40602854e-06 9.99995777e-01 -7.17686698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:0.38, Z:-0.72 [[ 9.99794843e-01 -2.01756960e-02 -1.79264773e-03 2.17636487e+01] [ 2.01756770e-02 9.99796450e-01 -2.87043462e-05 3.75795218e-01] [ 1.79286197e-03 -7.46942435e-06 9.99998393e-01 -7.17511865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:0.37, Z:-0.72 [[ 9.99767462e-01 -2.14114214e-02 -2.56392069e-03 2.17925874e+01] [ 2.14113919e-02 9.99770749e-01 -3.89592858e-05 3.72776308e-01] [ 2.56416708e-03 -1.59468845e-05 9.99996712e-01 -7.18214029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.82, Y:0.37, Z:-0.72 [[ 9.99784459e-01 -2.05899150e-02 -2.66296564e-03 2.18207037e+01] [ 2.05898871e-02 9.99788005e-01 -3.79136991e-05 3.71776306e-01] [ 2.66318174e-03 -1.69246346e-05 9.99996454e-01 -7.18566284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:0.37, Z:-0.72 [[ 9.99800985e-01 -1.98766763e-02 -1.70549613e-03 2.18486537e+01] [ 1.98766572e-02 9.99802439e-01 -2.81739704e-05 3.74091665e-01] [ 1.70571920e-03 -5.73119864e-06 9.99998545e-01 -7.18681326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:0.37, Z:-0.72 [[ 9.99838194e-01 -1.79525027e-02 -1.13701722e-03 2.18773146e+01] [ 1.79524953e-02 9.99838841e-01 -1.66827708e-05 3.74254794e-01] [ 1.13713348e-03 -3.73222493e-06 9.99999353e-01 -7.19683069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:0.37, Z:-0.72 [[ 9.99856378e-01 -1.67988332e-02 -2.24091709e-03 2.19064973e+01] [ 1.67988040e-02 9.99858890e-01 -3.18590591e-05 3.72873251e-01] [ 2.24113607e-03 -5.79024338e-06 9.99997489e-01 -7.20676722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:0.38, Z:-0.72 [[ 9.99890563e-01 -1.41618574e-02 -4.27820310e-03 2.19339592e+01] [ 1.41617243e-02 9.99899716e-01 -6.14075756e-05 3.75534877e-01] [ 4.27864371e-03 8.14122721e-07 9.99990847e-01 -7.22342040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:0.38, Z:-0.72 [[ 9.99904160e-01 -1.31150749e-02 -4.43453807e-03 2.19616611e+01] [ 1.31149051e-02 9.99913994e-01 -6.73847894e-05 3.79191439e-01] [ 4.43504043e-03 9.21978540e-06 9.99990165e-01 -7.23384083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.99, Y:0.38, Z:-0.73 [[ 9.99927164e-01 -1.11712188e-02 -4.56840860e-03 2.19899497e+01] [ 1.11710142e-02 9.99937600e-01 -7.02949128e-05 3.83357248e-01] [ 4.56890881e-03 1.92560353e-05 9.99989562e-01 -7.25259910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:0.38, Z:-0.73 [[ 9.99921289e-01 -1.05483169e-02 -6.79333008e-03 2.20164515e+01] [ 1.05478682e-02 9.99944365e-01 -1.01871391e-04 3.82684232e-01] [ 6.79402671e-03 3.02082216e-05 9.99976920e-01 -7.26491060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.04, Y:0.38, Z:-0.73 [[ 9.99920042e-01 -1.06658825e-02 -6.79332368e-03 2.20449310e+01] [ 1.06654337e-02 9.99943117e-01 -1.02297446e-04 3.83262437e-01] [ 6.79402835e-03 2.98355236e-05 9.99976920e-01 -7.27146488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.07, Y:0.38, Z:-0.73 [[ 9.99899055e-01 -1.18183804e-02 -7.88710982e-03 2.20726319e+01] [ 1.18177883e-02 9.99930160e-01 -1.21673203e-04 3.84074043e-01] [ 7.88799696e-03 2.84527268e-05 9.99968889e-01 -7.27705091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:0.39, Z:-0.73 [[ 9.99846524e-01 -1.56549614e-02 -7.86455187e-03 2.21002958e+01] [ 1.56544790e-02 9.99877454e-01 -1.22906810e-04 3.90885633e-01] [ 7.86551219e-03 -2.27515158e-07 9.99969066e-01 -7.28179013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:0.40, Z:-0.73 [[ 9.99824183e-01 -1.73611662e-02 -7.08472761e-03 2.21270630e+01] [ 1.73608282e-02 9.99849284e-01 -1.09219499e-04 3.95344232e-01] [ 7.08555600e-03 -1.37964417e-05 9.99974897e-01 -7.28281272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.15, Y:0.40, Z:-0.73 [[ 9.99787417e-01 -1.95691791e-02 -6.49370622e-03 2.21538309e+01] [ 1.95689373e-02 9.99808505e-01 -1.00777913e-04 3.99060133e-01] [ 6.49443485e-03 -2.63184400e-05 9.99978911e-01 -7.28833940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.18, Y:0.40, Z:-0.73 [[ 9.99773801e-01 -2.03337203e-02 -6.23592867e-03 2.21817238e+01] [ 2.03334893e-02 9.99793248e-01 -1.00452416e-04 3.98622527e-01] [ 6.23668196e-03 -2.63684954e-05 9.99980551e-01 -7.29814164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:0.40, Z:-0.73 [[ 9.99747620e-01 -2.16195221e-02 -6.10675042e-03 2.22084663e+01] [ 2.16193172e-02 9.99766270e-01 -9.95799824e-05 3.97121690e-01] [ 6.10747596e-03 -3.24689239e-05 9.99981349e-01 -7.31093699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.24, Y:0.40, Z:-0.73 [[ 9.99742179e-01 -2.19131780e-02 -5.94883411e-03 2.22365893e+01] [ 2.19129804e-02 9.99759877e-01 -9.84101551e-05 3.99594446e-01] [ 5.94956214e-03 -3.19719024e-05 9.99982301e-01 -7.31002792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:0.41, Z:-0.73 [[ 9.99743105e-01 -2.12465514e-02 -7.89351988e-03 2.22632543e+01] [ 2.12462088e-02 9.99774266e-01 -1.27255954e-04 4.08993888e-01] [ 7.89444179e-03 -4.04841091e-05 9.99968838e-01 -7.31342348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:0.41, Z:-0.73 [[ 9.99739498e-01 -2.00329419e-02 -1.09369629e-02 2.22902242e+01] [ 2.00322105e-02 9.99799320e-01 -1.76429324e-04 4.13441293e-01] [ 1.09383025e-02 -4.27081793e-05 9.99940174e-01 -7.33756180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:0.41, Z:-0.74 [[ 9.99739326e-01 -1.93100490e-02 -1.21820118e-02 2.23182894e+01] [ 1.93090289e-02 9.99813543e-01 -2.01359214e-04 4.14197874e-01] [ 1.21836286e-02 -3.39160928e-05 9.99925776e-01 -7.35445155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.35, Y:0.41, Z:-0.74 [[ 9.99760441e-01 -1.78609181e-02 -1.26510143e-02 2.23463244e+01] [ 1.78596724e-02 9.99840481e-01 -2.11445626e-04 4.13258132e-01] [ 1.26527728e-02 -1.45479979e-05 9.99919950e-01 -7.35467032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.37, Y:0.42, Z:-0.73 [[ 9.99824183e-01 -1.60937017e-02 -9.62264995e-03 2.23734504e+01] [ 1.60928898e-02 9.99870488e-01 -1.61807266e-04 4.20691436e-01] [ 9.62400777e-03 6.92257217e-06 9.99953688e-01 -7.33993481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.40, Y:0.43, Z:-0.73 [[ 9.99842894e-01 -1.54058873e-02 -8.76620971e-03 2.24017543e+01] [ 1.54051580e-02 9.99881322e-01 -1.50717543e-04 4.27114563e-01] [ 8.76749129e-03 1.56490190e-05 9.99961565e-01 -7.34279488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.43, Y:0.43, Z:-0.74 [[ 9.99850973e-01 -1.43467348e-02 -9.60225053e-03 2.24281426e+01] [ 1.43458313e-02 9.99897080e-01 -1.62968233e-04 4.33725241e-01] [ 9.60360032e-03 2.51916806e-05 9.99953884e-01 -7.36521338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:0.43, Z:-0.74 [[ 9.99844940e-01 -1.46690254e-02 -9.74242524e-03 2.24548119e+01] [ 1.46681031e-02 9.99892404e-01 -1.66111300e-04 4.34408170e-01] [ 9.74381368e-03 2.31826452e-05 9.99952528e-01 -7.38008944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.48, Y:0.44, Z:-0.74 [[ 9.99804397e-01 -1.68604092e-02 -1.03389277e-02 2.24828613e+01] [ 1.68594414e-02 9.99857853e-01 -1.80767666e-04 4.35668237e-01] [ 1.03405058e-02 6.42376250e-06 9.99946536e-01 -7.38081972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.51, Y:0.44, Z:-0.74 [[ 9.99777021e-01 -1.80647703e-02 -1.09349522e-02 2.25100463e+01] [ 1.80637616e-02 9.99836819e-01 -1.91007758e-04 4.39055607e-01] [ 1.09366184e-02 -6.56120279e-06 9.99940193e-01 -7.38480740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.54, Y:0.45, Z:-0.74 [[ 9.99736179e-01 -1.99132334e-02 -1.14470848e-02 2.25382932e+01] [ 1.99122090e-02 9.99801712e-01 -2.03463867e-04 4.48445086e-01] [ 1.14488666e-02 -2.45265564e-05 9.99934459e-01 -7.38427043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203822000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:22.57, Y:0.45, Z:-0.74 [[ 9.99757220e-01 -1.99275176e-02 -9.40183790e-03 2.25651541e+01] [ 1.99268215e-02 9.99801427e-01 -1.67713311e-04 4.54834583e-01] [ 9.40331306e-03 -1.96761524e-05 9.99955788e-01 -7.36293663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.59, Y:0.46, Z:-0.74 [[ 9.99759206e-01 -2.04988428e-02 -7.83121943e-03 2.25918472e+01] [ 2.04983773e-02 9.99789876e-01 -1.39710408e-04 4.56198035e-01] [ 7.83243781e-03 -2.08505237e-05 9.99969326e-01 -7.38015351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:0.46, Z:-0.74 [[ 9.99749155e-01 -2.14270138e-02 -6.51997045e-03 2.26195813e+01] [ 2.14266847e-02 9.99770415e-01 -1.20335751e-04 4.56358278e-01] [ 6.52105200e-03 -1.93957852e-05 9.99978738e-01 -7.38397060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194203822000002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:22.65, Y:0.46, Z:-0.74 [[ 9.99693429e-01 -2.41696083e-02 -5.37386075e-03 2.26462233e+01] [ 2.41694311e-02 9.99707872e-01 -9.79228436e-05 4.56167038e-01] [ 5.37465765e-03 -3.19903340e-05 9.99985556e-01 -7.36899662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.67, Y:0.46, Z:-0.74 [[ 9.99650795e-01 -2.57774471e-02 -5.81481456e-03 2.26742956e+01] [ 2.57772475e-02 9.99667706e-01 -1.09284189e-04 4.57777223e-01] [ 5.81569939e-03 -4.06438879e-05 9.99983088e-01 -7.38709555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.70, Y:0.46, Z:-0.74 [[ 9.99606864e-01 -2.73326276e-02 -6.24865824e-03 2.27009989e+01] [ 2.73324415e-02 9.99626392e-01 -1.15194025e-04 4.62081286e-01] [ 6.24947225e-03 -5.56423480e-05 9.99980470e-01 -7.40056857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:0.47, Z:-0.74 [[ 9.99577685e-01 -2.83407427e-02 -6.42286334e-03 2.27284871e+01] [ 2.83405441e-02 9.99598319e-01 -1.21957948e-04 4.65182755e-01] [ 6.42373978e-03 -6.01209982e-05 9.99979366e-01 -7.41314710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:0.47, Z:-0.74 [[ 9.99561761e-01 -2.86843510e-02 -7.31400949e-03 2.27561349e+01] [ 2.86840960e-02 9.99588517e-01 -1.39772580e-04 4.65146513e-01] [ 7.31500919e-03 -7.00844241e-05 9.99973243e-01 -7.42328228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.78, Y:0.46, Z:-0.74 [[ 9.99561613e-01 -2.88128175e-02 -6.81196080e-03 2.27836285e+01] [ 2.88126104e-02 9.99584822e-01 -1.28564657e-04 4.63380193e-01] [ 6.81283694e-03 -6.77620769e-05 9.99976790e-01 -7.42235561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.81, Y:0.47, Z:-0.74 [[ 9.99573586e-01 -2.86033655e-02 -5.87311761e-03 2.28113669e+01] [ 2.86031857e-02 9.99590839e-01 -1.14625949e-04 4.65015472e-01] [ 5.87399325e-03 -5.34128029e-05 9.99982747e-01 -7.42067419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:0.47, Z:-0.74 [[ 9.99610794e-01 -2.75450232e-02 -4.41952915e-03 2.28392825e+01] [ 2.75449024e-02 9.99620563e-01 -8.82048650e-05 4.67753440e-01] [ 4.42028182e-03 -3.35649640e-05 9.99990230e-01 -7.40185499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:0.47, Z:-0.74 [[ 9.99687617e-01 -2.48266988e-02 -2.88150357e-03 2.28672813e+01] [ 2.48266400e-02 9.99691770e-01 -5.61813328e-05 4.70518146e-01] [ 2.88201020e-03 -1.53742688e-05 9.99995847e-01 -7.40398144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:0.47, Z:-0.74 [[ 9.99713061e-01 -2.37395671e-02 -3.19811885e-03 2.28958770e+01] [ 2.37394910e-02 9.99718177e-01 -6.17783477e-05 4.70800456e-01] [ 3.19868414e-03 -1.41610924e-05 9.99994884e-01 -7.41605205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:0.47, Z:-0.74 [[ 9.99716809e-01 -2.32906603e-02 -4.88327703e-03 2.29252630e+01] [ 2.32904803e-02 9.99728736e-01 -9.37255039e-05 4.68571119e-01] [ 4.88413530e-03 -2.00349056e-05 9.99988072e-01 -7.43972923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:0.47, Z:-0.74 [[ 9.99677235e-01 -2.49879056e-02 -4.58583924e-03 2.29528691e+01] [ 2.49877436e-02 9.99687753e-01 -9.26273508e-05 4.67364540e-01] [ 4.58672189e-03 -2.19923210e-05 9.99989481e-01 -7.44210826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.98, Y:0.47, Z:-0.74 [[ 9.99650149e-01 -2.62134810e-02 -3.52606915e-03 2.29816094e+01] [ 2.62133890e-02 9.99656367e-01 -7.23347027e-05 4.67747916e-01] [ 3.52675362e-03 -2.01208258e-05 9.99993781e-01 -7.42939944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:0.47, Z:-0.74 [[ 9.99607846e-01 -2.79560833e-02 -1.61595148e-03 2.30104524e+01] [ 2.79560624e-02 9.99609152e-01 -3.55108668e-05 4.68537575e-01] [ 1.61631263e-03 -9.67869939e-06 9.99998694e-01 -7.44287416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:0.47, Z:-0.75 [[ 9.99594360e-01 -2.84511901e-02 -1.28288722e-03 2.30405110e+01] [ 2.84511805e-02 9.99595183e-01 -2.57416895e-05 4.68670824e-01] [ 1.28310027e-03 -1.07684082e-05 9.99999177e-01 -7.45538897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.07, Y:0.46, Z:-0.74 [[ 9.99587122e-01 -2.86807489e-02 -1.73182695e-03 2.30694925e+01] [ 2.86807315e-02 9.99588623e-01 -3.48905356e-05 4.63561410e-01] [ 1.73211520e-03 -1.47939335e-05 9.99998500e-01 -7.44986807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.10, Y:0.46, Z:-0.75 [[ 9.99659578e-01 -2.59600777e-02 -2.60818426e-03 2.30980386e+01] [ 2.59600207e-02 9.99662980e-01 -5.56778666e-05 4.63335660e-01] [ 2.60875065e-03 -1.20496048e-05 9.99996597e-01 -7.46020889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.13, Y:0.46, Z:-0.75 [[ 9.99709191e-01 -2.37727672e-02 -4.04825084e-03 2.31261985e+01] [ 2.37726330e-02 9.99717388e-01 -8.12906362e-05 4.64860530e-01] [ 4.04903926e-03 -1.49705851e-05 9.99991802e-01 -7.46936496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.15, Y:0.47, Z:-0.75 [[ 9.99783164e-01 -2.01544760e-02 -5.23661047e-03 2.31546375e+01] [ 2.01541822e-02 9.99796878e-01 -1.08873447e-04 4.65973511e-01] [ 5.23774108e-03 3.31023780e-06 9.99986283e-01 -7.47815939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203822000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.18, Y:0.47, Z:-0.75 [[ 9.99828445e-01 -1.80686486e-02 -4.07491322e-03 2.31824333e+01] [ 1.80684443e-02 9.99836749e-01 -8.69570704e-05 4.68652183e-01] [ 4.07581918e-03 1.33148101e-05 9.99991694e-01 -7.47243512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.21, Y:0.47, Z:-0.75 [[ 9.99839230e-01 -1.76059257e-02 -3.39798668e-03 2.32101350e+01] [ 1.76057883e-02 9.99845004e-01 -7.03689661e-05 4.68308361e-01] [ 3.39869891e-03 1.05334190e-05 9.99994224e-01 -7.49586398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203822000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:23.24, Y:0.47, Z:-0.75 [[ 9.99830647e-01 -1.81940999e-02 -2.76611761e-03 2.32390340e+01] [ 1.81940029e-02 9.99834474e-01 -6.02247366e-05 4.69006049e-01] [ 2.76675547e-03 9.88778573e-06 9.99996172e-01 -7.48568474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.27, Y:0.47, Z:-0.75 [[ 9.99807560e-01 -1.93211656e-02 -3.39653353e-03 2.32688435e+01] [ 1.93210389e-02 9.99813329e-01 -7.01286496e-05 4.72596841e-01] [ 3.39725447e-03 4.49059762e-06 9.99994229e-01 -7.51790254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.30, Y:0.47, Z:-0.75 [[ 9.99796639e-01 -1.98754765e-02 -3.41260439e-03 2.32972465e+01] [ 1.98753504e-02 9.99802463e-01 -7.08571862e-05 4.74234464e-01] [ 3.41333859e-03 3.01606850e-06 9.99994175e-01 -7.52990456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:0.48, Z:-0.75 [[ 9.99785292e-01 -2.01961204e-02 -4.63534110e-03 2.33259298e+01] [ 2.01958919e-02 9.99796038e-01 -9.61079682e-05 4.76345278e-01] [ 4.63633668e-03 2.47248524e-06 9.99989252e-01 -7.54352192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:0.48, Z:-0.76 [[ 9.99777053e-01 -2.04003734e-02 -5.44690330e-03 2.33551289e+01] [ 2.04000405e-02 9.99791891e-01 -1.16677473e-04 4.78957729e-01] [ 5.44815002e-03 5.53441221e-06 9.99985159e-01 -7.55456966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.38, Y:0.48, Z:-0.76 [[ 9.99766695e-01 -2.07710384e-02 -5.92613385e-03 2.33832238e+01] [ 2.07706417e-02 9.99784259e-01 -1.28483884e-04 4.84620870e-01] [ 5.92752408e-03 5.36430546e-06 9.99982432e-01 -7.57385899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:0.49, Z:-0.76 [[ 9.99768776e-01 -2.02142977e-02 -7.33331497e-03 2.34109391e+01] [ 2.02137028e-02 9.99795670e-01 -1.55239522e-04 4.89887621e-01] [ 7.33495461e-03 6.97017744e-06 9.99973099e-01 -7.58978708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034203822000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:23.44, Y:0.49, Z:-0.76 [[ 9.99759125e-01 -2.02547150e-02 -8.45209079e-03 2.34392535e+01] [ 2.02538877e-02 9.99794852e-01 -1.83475149e-04 4.93011148e-01] [ 8.45407310e-03 1.22432565e-05 9.99964264e-01 -7.57707038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:0.50, Z:-0.76 [[ 9.99753069e-01 -2.06037808e-02 -8.32382655e-03 2.34658401e+01] [ 2.06030053e-02 9.99787720e-01 -1.78915999e-04 4.99124962e-01] [ 8.32574591e-03 7.37597618e-06 9.99965340e-01 -7.58927409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.49, Y:0.51, Z:-0.76 [[ 9.99714080e-01 -2.25346449e-02 -7.99674176e-03 2.34934494e+01] [ 2.25339574e-02 9.99746063e-01 -1.76072593e-04 5.05471478e-01] [ 7.99867882e-03 -4.17598768e-06 9.99968010e-01 -7.59514667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.52, Y:0.51, Z:-0.76 [[ 9.99679432e-01 -2.40939494e-02 -7.77911581e-03 2.35202500e+01] [ 2.40933598e-02 9.99709699e-01 -1.69516527e-04 5.07115965e-01] [ 7.78094185e-03 -1.79628505e-05 9.99969728e-01 -7.59298544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:0.51, Z:-0.76 [[ 9.99585148e-01 -2.82238298e-02 -5.73996414e-03 2.35476422e+01] [ 2.82235712e-02 9.99601628e-01 -1.26053206e-04 5.06957526e-01] [ 5.74123520e-03 -3.60013736e-05 9.99983518e-01 -7.62074829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:0.51, Z:-0.76 [[ 9.99512937e-01 -3.08123936e-02 -4.94817791e-03 2.35769358e+01] [ 3.08122179e-02 9.99525185e-01 -1.11758553e-04 5.07191164e-01] [ 4.94927199e-03 -4.07602166e-05 9.99987751e-01 -7.62560679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:0.51, Z:-0.76 [[ 9.99374370e-01 -3.49986684e-02 -5.09536392e-03 2.36052078e+01] [ 3.49985519e-02 9.99387357e-01 -1.12071443e-04 5.07500758e-01] [ 5.09616463e-03 -6.63290308e-05 9.99987012e-01 -7.63198720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:23.63, Y:0.51, Z:-0.76 [[ 9.99315578e-01 -3.65739051e-02 -5.54307460e-03 2.36342811e+01] [ 3.65737707e-02 9.99330948e-01 -1.25632644e-04 5.08211073e-01] [ 5.54396087e-03 -7.71844812e-05 9.99984629e-01 -7.62583865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:0.51, Z:-0.76 [[ 9.99253200e-01 -3.81493506e-02 -6.13749377e-03 2.36626712e+01] [ 3.81492111e-02 9.99272044e-01 -1.39843114e-04 5.08529720e-01] [ 6.13836087e-03 -9.44018664e-05 9.99981156e-01 -7.64516134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:0.51, Z:-0.76 [[ 9.99262554e-01 -3.79161189e-02 -6.05930509e-03 2.36914984e+01] [ 3.79159717e-02 9.99280921e-01 -1.39209664e-04 5.09751876e-01] [ 6.06022626e-03 -9.06374359e-05 9.99981633e-01 -7.64752629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:0.51, Z:-0.76 [[ 9.99326069e-01 -3.64494038e-02 -4.34149404e-03 2.37198717e+01] [ 3.64493034e-02 9.99335498e-01 -1.02261708e-04 5.09732127e-01] [ 4.34233649e-03 -5.60516431e-05 9.99990570e-01 -7.64875739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:0.51, Z:-0.76 [[ 9.99377380e-01 -3.49285063e-02 -4.98519006e-03 2.37479275e+01] [ 3.49283722e-02 9.99389812e-01 -1.13980901e-04 5.09531746e-01] [ 4.98612934e-03 -6.02146404e-05 9.99987567e-01 -7.64964219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:0.51, Z:-0.77 [[ 9.99373443e-01 -3.48523122e-02 -6.16740924e-03 2.37762683e+01] [ 3.48520856e-02 9.99392471e-01 -1.44249556e-04 5.11443956e-01] [ 6.16868980e-03 -7.07878996e-05 9.99980971e-01 -7.65723715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:0.51, Z:-0.77 [[ 9.99367048e-01 -3.50352211e-02 -6.16737627e-03 2.38047218e+01] [ 3.50349891e-02 9.99386076e-01 -1.45677252e-04 5.12268851e-01] [ 6.16869380e-03 -7.04889154e-05 9.99980971e-01 -7.66379003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.83, Y:0.51, Z:-0.77 [[ 9.99360895e-01 -3.51104547e-02 -6.71251796e-03 2.38323299e+01] [ 3.51102003e-02 9.99383435e-01 -1.55772867e-04 5.12939916e-01] [ 6.71384851e-03 -8.00045381e-05 9.99977459e-01 -7.66958203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.86, Y:0.51, Z:-0.77 [[ 9.99354561e-01 -3.55740996e-02 -4.99442331e-03 2.38589184e+01] [ 3.55739428e-02 9.99367040e-01 -1.20248600e-04 5.10078042e-01] [ 4.99553978e-03 -5.75003427e-05 9.99987521e-01 -7.67317459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.89, Y:0.51, Z:-0.77 [[ 9.99356506e-01 -3.56984126e-02 -3.49250852e-03 2.38867834e+01] [ 3.56983422e-02 9.99362608e-01 -8.25343996e-05 5.09004437e-01] [ 3.49322877e-03 -4.21954748e-05 9.99993898e-01 -7.67477689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.92, Y:0.51, Z:-0.77 [[ 9.99333567e-01 -3.64100982e-02 -2.59371957e-03 2.39155115e+01] [ 3.64100531e-02 9.99336932e-01 -6.46163719e-05 5.11405689e-01] [ 2.59435244e-03 -2.98641577e-05 9.99996634e-01 -7.67361772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:0.51, Z:-0.77 [[ 9.99306769e-01 -3.71196680e-02 -2.84799491e-03 2.39437585e+01] [ 3.71196254e-02 9.99310827e-01 -6.78234151e-05 5.12974380e-01] [ 2.84854973e-03 -3.79401064e-05 9.99995942e-01 -7.68407010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:0.51, Z:-0.77 [[ 9.99243643e-01 -3.87800647e-02 -2.87195090e-03 2.39729145e+01] [ 3.87800191e-02 9.99247770e-01 -7.15926792e-05 5.09917883e-01] [ 2.87256690e-03 -3.98357811e-05 9.99995873e-01 -7.69878756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.00, Y:0.51, Z:-0.77 [[ 9.99172853e-01 -4.05094951e-02 -3.54844365e-03 2.40021401e+01] [ 4.05094367e-02 9.99179152e-01 -8.83349740e-05 5.07100215e-01] [ 3.54910933e-03 -5.54835458e-05 9.99993700e-01 -7.69376887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.03, Y:0.51, Z:-0.77 [[ 9.99145089e-01 -4.11629274e-02 -3.83469244e-03 2.40301275e+01] [ 4.11628741e-02 9.99152445e-01 -9.28630196e-05 5.07905261e-01] [ 3.83526484e-03 -6.50633319e-05 9.99992643e-01 -7.70712429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.06, Y:0.51, Z:-0.77 [[ 9.99137730e-01 -4.12916897e-02 -4.33499430e-03 2.40591485e+01] [ 4.12916100e-02 9.99147132e-01 -1.07925246e-04 5.09960765e-01] [ 4.33575353e-03 -7.11667081e-05 9.99990598e-01 -7.71248256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:0.51, Z:-0.77 [[ 9.99184574e-01 -4.01051805e-02 -4.66495923e-03 2.40872521e+01] [ 4.01050698e-02 9.99195461e-01 -1.17314677e-04 5.10003834e-01] [ 4.66591102e-03 -6.98694998e-05 9.99989112e-01 -7.72001478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:0.51, Z:-0.77 [[ 9.99212348e-01 -3.94318948e-02 -4.45068553e-03 2.41154926e+01] [ 3.94317825e-02 9.99222258e-01 -1.13023835e-04 5.09410315e-01] [ 4.45168079e-03 -6.25636521e-05 9.99990089e-01 -7.72538009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203822000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:24.14, Y:0.51, Z:-0.77 [[ 9.99274647e-01 -3.77431557e-02 -5.06294377e-03 2.41435476e+01] [ 3.77429865e-02 9.99287471e-01 -1.28985947e-04 5.06679363e-01] [ 5.06420462e-03 -6.21982319e-05 9.99987175e-01 -7.72559372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:0.51, Z:-0.77 [[ 9.99312518e-01 -3.64545198e-02 -6.74971148e-03 2.41707142e+01] [ 3.64542025e-02 9.99335310e-01 -1.70085286e-04 5.08111120e-01] [ 6.75142540e-03 -7.60869933e-05 9.99977206e-01 -7.74990392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:0.51, Z:-0.78 [[ 9.99303262e-01 -3.66276051e-02 -7.17008217e-03 2.41985089e+01] [ 3.66272354e-02 9.99328981e-01 -1.82910076e-04 5.10380650e-01] [ 7.17197047e-03 -7.98376519e-05 9.99974278e-01 -7.76085394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.23, Y:0.51, Z:-0.78 [[ 9.99264481e-01 -3.78505285e-02 -6.15099493e-03 2.42260815e+01] [ 3.78502672e-02 9.99283409e-01 -1.58924648e-04 5.11164087e-01] [ 6.15260257e-03 -7.40090454e-05 9.99981070e-01 -7.76332100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203822000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:24.25, Y:0.51, Z:-0.78 [[ 9.99179723e-01 -4.02301125e-02 -4.62812962e-03 2.42540797e+01] [ 4.02299794e-02 9.99190439e-01 -1.21879972e-04 5.11055505e-01] [ 4.62928611e-03 -6.44095622e-05 9.99989283e-01 -7.76371271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:0.51, Z:-0.78 [[ 9.99127854e-01 -4.13768153e-02 -5.61165349e-03 2.42818101e+01] [ 4.13766596e-02 9.99143609e-01 -1.43886353e-04 5.10625321e-01] [ 5.61280128e-03 -8.84306129e-05 9.99984244e-01 -7.77746608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:0.51, Z:-0.78 [[ 9.99093046e-01 -4.20566417e-02 -6.65763112e-03 2.43091293e+01] [ 4.20564329e-02 9.99115222e-01 -1.71417473e-04 5.07883797e-01] [ 6.65894984e-03 -1.08734212e-04 9.99977823e-01 -7.77648661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:0.51, Z:-0.78 [[ 9.99101863e-01 -4.17869892e-02 -7.02241245e-03 2.43372286e+01] [ 4.17867223e-02 9.99126536e-01 -1.84783288e-04 5.10062144e-01] [ 7.02400017e-03 -1.08826272e-04 9.99975325e-01 -7.77883857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:0.51, Z:-0.78 [[ 9.99185954e-01 -3.97302196e-02 -6.99556965e-03 2.43654154e+01] [ 3.97298947e-02 9.99210439e-01 -1.85460776e-04 5.14599768e-01] [ 6.99741461e-03 -9.26234426e-05 9.99975514e-01 -7.77872339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.39, Y:0.52, Z:-0.78 [[ 9.99319203e-01 -3.63271485e-02 -6.43967113e-03 2.43936530e+01] [ 3.63267921e-02 9.99339949e-01 -1.72349532e-04 5.17508888e-01] [ 6.44168159e-03 -6.17003975e-05 9.99979250e-01 -7.77041378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:0.52, Z:-0.78 [[ 9.99405682e-01 -3.40418611e-02 -5.42531721e-03 2.44209829e+01] [ 3.40415820e-02 9.99420407e-01 -1.43816746e-04 5.20044429e-01] [ 5.42706853e-03 -4.09551075e-05 9.99985273e-01 -7.78187138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:0.52, Z:-0.78 [[ 9.99586439e-01 -2.84418015e-02 -4.24429570e-03 2.44492016e+01] [ 2.84415641e-02 9.99595450e-01 -1.16286796e-04 5.20981333e-01] [ 4.24588608e-03 -4.47570380e-06 9.99990986e-01 -7.78963920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.48, Y:0.53, Z:-0.78 [[ 9.99710665e-01 -2.37508762e-02 -3.80561695e-03 2.44771756e+01] [ 2.37506605e-02 9.99717908e-01 -1.01869595e-04 5.25167617e-01] [ 3.80696290e-03 1.14542048e-05 9.99992753e-01 -7.79110787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.51, Y:0.53, Z:-0.78 [[ 9.99783131e-01 -2.06605696e-02 -2.61373278e-03 2.45071077e+01] [ 2.06604582e-02 9.99786548e-01 -6.96235546e-05 5.33840699e-01] [ 2.61461334e-03 1.56075386e-05 9.99996582e-01 -7.79863446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:24.54, Y:0.54, Z:-0.78 [[ 9.99798421e-01 -1.97999751e-02 -3.32855677e-03 2.45370038e+01] [ 1.97997899e-02 9.99803961e-01 -8.85949941e-05 5.35428539e-01] [ 3.32965842e-03 2.26724104e-05 9.99994456e-01 -7.79877661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234203822000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:24.57, Y:0.54, Z:-0.78 [[ 9.99810935e-01 -1.91698719e-02 -3.25746592e-03 2.45670983e+01] [ 1.91696908e-02 9.99816241e-01 -8.68030936e-05 5.35660757e-01] [ 3.25853133e-03 2.43420676e-05 9.99994691e-01 -7.80967963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:0.54, Z:-0.78 [[ 9.99817040e-01 -1.89238215e-02 -2.78854503e-03 2.45960085e+01] [ 1.89236866e-02 9.99820928e-01 -7.47704118e-05 5.37796250e-01] [ 2.78946062e-03 2.19871796e-05 9.99996109e-01 -7.81808136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294203822000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:24.63, Y:0.54, Z:-0.78 [[ 9.99837173e-01 -1.77501573e-02 -3.24959879e-03 2.46254698e+01] [ 1.77499712e-02 9.99842453e-01 -8.60757548e-05 5.44133496e-01] [ 3.25061469e-03 2.83814542e-05 9.99994716e-01 -7.81008727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:0.55, Z:-0.78 [[ 9.99822453e-01 -1.83979292e-02 -4.07161717e-03 2.46544515e+01] [ 1.83976424e-02 9.99830743e-01 -1.07892022e-04 5.49118789e-01] [ 4.07291301e-03 3.29647091e-05 9.99991705e-01 -7.83289291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.68, Y:0.55, Z:-0.78 [[ 9.99808080e-01 -1.93129029e-02 -3.28865935e-03 2.46834663e+01] [ 1.93127176e-02 9.99813488e-01 -8.81012181e-05 5.52312909e-01] [ 3.28974747e-03 2.45713603e-05 9.99994588e-01 -7.83846286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:0.56, Z:-0.78 [[ 9.99779771e-01 -2.09515608e-02 -1.20028028e-03 2.47133933e+01] [ 2.09515369e-02 9.99780492e-01 -3.24440568e-05 5.58733262e-01] [ 1.20069657e-03 7.28919500e-06 9.99999279e-01 -7.82164667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:0.56, Z:-0.78 [[ 9.99765190e-01 -2.16377572e-02 1.17167333e-03 2.47429357e+01] [ 2.16377356e-02 9.99765876e-01 3.11278735e-05 5.62729938e-01] [-1.17207255e-03 -5.76820668e-06 9.99999313e-01 -7.81447679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:0.56, Z:-0.78 [[ 9.99761109e-01 -2.17993589e-02 1.58520780e-03 2.47739677e+01] [ 2.17993187e-02 9.99762366e-01 4.26220476e-05 5.64063645e-01] [-1.58576024e-03 -8.05541550e-06 9.99998743e-01 -7.82511373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:0.57, Z:-0.78 [[ 9.99729805e-01 -2.32395578e-02 4.90446283e-04 2.48054207e+01] [ 2.32395538e-02 9.99729925e-01 1.38174068e-05 5.70683132e-01] [-4.90634936e-04 -2.41592061e-06 9.99999880e-01 -7.84286250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.84, Y:0.58, Z:-0.78 [[ 9.99658742e-01 -2.61154496e-02 6.18773768e-04 2.48368325e+01] [ 2.61154441e-02 9.99658933e-01 1.69506890e-05 5.81373504e-01] [-6.19005400e-04 -7.85352657e-07 9.99999808e-01 -7.84430236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534203822000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:24.87, Y:0.59, Z:-0.79 [[ 9.99587516e-01 -2.87182988e-02 2.39162143e-04 2.48681941e+01] [ 2.87182979e-02 9.99587545e-01 7.16751740e-06 5.86527323e-01] [-2.39269338e-04 -2.96231238e-07 9.99999971e-01 -7.85677857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:0.59, Z:-0.79 [[ 9.99546664e-01 -3.00917557e-02 -9.75892258e-04 2.48989597e+01] [ 3.00917458e-02 9.99547141e-01 -2.48802293e-05 5.87358975e-01] [ 9.76199006e-04 -4.49735150e-06 9.99999524e-01 -7.87403693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:0.59, Z:-0.79 [[ 9.99463821e-01 -3.27119557e-02 -1.41391950e-03 2.49305904e+01] [ 3.27119365e-02 9.99464821e-01 -3.67519762e-05 5.92648396e-01] [ 1.41436503e-03 -9.51977423e-06 9.99999000e-01 -7.88334138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203822000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:24.96, Y:0.60, Z:-0.79 [[ 9.99425251e-01 -3.38709810e-02 -1.38753539e-03 2.49614648e+01] [ 3.38709636e-02 9.99426214e-01 -3.60242520e-05 5.97942007e-01] [ 1.38795942e-03 -1.09936137e-05 9.99999037e-01 -7.88865627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:0.60, Z:-0.79 [[ 9.99298405e-01 -3.73241405e-02 -3.09938009e-03 2.49925430e+01] [ 3.73240686e-02 9.99303211e-01 -8.10581463e-05 6.04220096e-01] [ 3.10024590e-03 -3.46801988e-05 9.99995194e-01 -7.91229115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:0.61, Z:-0.79 [[ 9.99168842e-01 -4.04513109e-02 -5.03149304e-03 2.50234793e+01] [ 4.04511598e-02 9.99181508e-01 -1.31823569e-04 6.09363664e-01] [ 5.03270725e-03 -7.18157261e-05 9.99987333e-01 -7.92107987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:0.61, Z:-0.79 [[ 9.99109696e-01 -4.18534994e-02 -5.30085031e-03 2.50528138e+01] [ 4.18533486e-02 9.99123755e-01 -1.39420116e-04 6.12000301e-01] [ 5.30204069e-03 -8.25623463e-05 9.99985941e-01 -7.92736565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203822000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:25.08, Y:0.61, Z:-0.79 [[ 9.99045242e-01 -4.35182669e-02 -3.84262400e-03 2.50830010e+01] [ 4.35181998e-02 9.99052629e-01 -1.01093485e-04 6.13025465e-01] [ 3.84338303e-03 -6.62271139e-05 9.99992612e-01 -7.92298813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774203822000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:25.11, Y:0.61, Z:-0.79 [[ 9.99037103e-01 -4.38042269e-02 -2.46096645e-03 2.51129370e+01] [ 4.38042010e-02 9.99040133e-01 -6.44390910e-05 6.13619889e-01] [ 2.46142696e-03 -4.34236264e-05 9.99996970e-01 -7.92936265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.14, Y:0.62, Z:-0.79 [[ 9.99074527e-01 -4.29864888e-02 -1.50014648e-03 2.51434551e+01] [ 4.29864784e-02 9.99075653e-01 -3.91590091e-05 6.18791833e-01] [ 1.50044313e-03 -2.53632459e-05 9.99998874e-01 -7.93479010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.17, Y:0.62, Z:-0.80 [[ 9.99165182e-01 -4.08132821e-02 -1.79316968e-03 2.51732383e+01] [ 4.08132643e-02 9.99166791e-01 -4.65516073e-05 6.24892871e-01] [ 1.79357552e-03 -2.66723630e-05 9.99998391e-01 -7.95120869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:0.63, Z:-0.80 [[ 9.99212272e-01 -3.96657582e-02 -1.20969451e-03 2.52043615e+01] [ 3.96657495e-02 9.99213004e-01 -3.11850261e-05 6.25639182e-01] [ 1.20997947e-03 -1.68229787e-05 9.99999268e-01 -7.96446235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:0.63, Z:-0.80 [[ 9.99273653e-01 -3.80989405e-02 -7.97739127e-04 2.52346294e+01] [ 3.80989366e-02 9.99273972e-01 -2.00336453e-05 6.26802965e-01] [ 7.97923206e-04 -1.03739185e-05 9.99999682e-01 -7.95974637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:0.63, Z:-0.80 [[ 9.99283307e-01 -3.77578985e-02 -2.68595582e-03 2.52661206e+01] [ 3.77578482e-02 9.99286916e-01 -6.94761845e-05 6.30890921e-01] [ 2.68666379e-03 -3.19895208e-05 9.99996390e-01 -7.96621691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954203822000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.30, Y:0.63, Z:-0.80 [[ 9.99274241e-01 -3.79821736e-02 -2.88891507e-03 2.52969276e+01] [ 3.79821156e-02 9.99278416e-01 -7.49521026e-05 6.32669080e-01] [ 2.88967732e-03 -3.48294009e-05 9.99995824e-01 -7.96915564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.33, Y:0.63, Z:-0.80 [[ 9.99253380e-01 -3.85961960e-02 -1.73648162e-03 2.53271434e+01] [ 3.85961772e-02 9.99254889e-01 -4.43843319e-05 6.34137147e-01] [ 1.73690081e-03 -2.26703584e-05 9.99998491e-01 -7.97395026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.36, Y:0.63, Z:-0.80 [[ 9.99225416e-01 -3.93094084e-02 -1.82719053e-03 2.53589406e+01] [ 3.93093880e-02 9.99227086e-01 -4.71049745e-05 6.32927168e-01] [ 1.82762994e-03 -2.47572540e-05 9.99998330e-01 -7.97519558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203822000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:25.39, Y:0.63, Z:-0.80 [[ 9.99211960e-01 -3.96171603e-02 -2.43693651e-03 2.53898387e+01] [ 3.96171253e-02 9.99214932e-01 -6.26502428e-05 6.31578914e-01] [ 2.43750537e-03 -3.39435472e-05 9.99997029e-01 -7.98446641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:0.63, Z:-0.80 [[ 9.99240597e-01 -3.88212600e-02 -3.33742207e-03 2.54210822e+01] [ 3.88211882e-02 9.99246170e-01 -8.62940262e-05 6.30974440e-01] [ 3.33825626e-03 -4.33341959e-05 9.99994427e-01 -8.00291242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203822000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.45, Y:0.63, Z:-0.80 [[ 9.99285392e-01 -3.76174270e-02 -3.69244942e-03 2.54520140e+01] [ 3.76173312e-02 9.99292213e-01 -9.54266066e-05 6.32535182e-01] [ 3.69342565e-03 -4.35416787e-05 9.99993178e-01 -8.00804866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:0.63, Z:-0.80 [[ 9.99400713e-01 -3.45200698e-02 -2.56524053e-03 2.54826992e+01] [ 3.45200132e-02 9.99404005e-01 -6.63729181e-05 6.34854281e-01] [ 2.56600286e-03 -2.22189953e-05 9.99996708e-01 -8.01460588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203822000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.51, Y:0.64, Z:-0.80 [[ 9.99512749e-01 -3.11909292e-02 -1.17892758e-03 2.55136143e+01] [ 3.11909154e-02 9.99513445e-01 -3.00460138e-05 6.37610753e-01] [ 1.17929113e-03 -6.74045651e-06 9.99999305e-01 -8.00898340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194203822000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.55, Y:0.64, Z:-0.80 [[ 9.99550471e-01 -2.99594739e-02 -1.13439012e-03 2.55450872e+01] [ 2.99594608e-02 9.99551114e-01 -2.85706532e-05 6.38728206e-01] [ 1.13473687e-03 -5.42790642e-06 9.99999356e-01 -8.01767380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:0.64, Z:-0.80 [[ 9.99589304e-01 -2.85941949e-02 -1.89629197e-03 2.55763406e+01] [ 2.85941548e-02 9.99591102e-01 -4.82622422e-05 6.38893625e-01] [ 1.89689660e-03 -5.98044499e-06 9.99998201e-01 -8.03390753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:0.64, Z:-0.80 [[ 9.99607212e-01 -2.80004360e-02 -1.18232032e-03 2.56073089e+01] [ 2.80004200e-02 9.99607911e-01 -3.00277058e-05 6.41205107e-01] [ 1.18269753e-03 -3.08955424e-06 9.99999301e-01 -8.03456585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:0.64, Z:-0.80 [[ 9.99613896e-01 -2.77492105e-02 -1.42807455e-03 2.56373398e+01] [ 2.77491864e-02 9.99614917e-01 -3.66423059e-05 6.44803551e-01] [ 1.42854142e-03 -2.99974887e-06 9.99998980e-01 -8.03589835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:0.65, Z:-0.80 [[ 9.99632261e-01 -2.69584461e-02 -2.93016535e-03 2.56683521e+01] [ 2.69583417e-02 9.99636555e-01 -7.51381966e-05 6.49724368e-01] [ 2.93112601e-03 -3.88183354e-06 9.99995704e-01 -8.04515693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:0.65, Z:-0.81 [[ 9.99632575e-01 -2.69467940e-02 -2.93015931e-03 2.56993364e+01] [ 2.69466888e-02 9.99636869e-01 -7.53721175e-05 6.50519330e-01] [ 2.93112631e-03 -3.61366714e-06 9.99995704e-01 -8.05228855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:0.65, Z:-0.81 [[ 9.99637246e-01 -2.67091799e-02 -3.46351757e-03 2.57308012e+01] [ 2.67090327e-02 9.99643246e-01 -8.87604224e-05 6.52083784e-01] [ 3.46465266e-03 -3.77897979e-06 9.99993998e-01 -8.06876696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.76, Y:0.65, Z:-0.81 [[ 9.99631478e-01 -2.68629833e-02 -3.91011211e-03 2.57611904e+01] [ 2.68627956e-02 9.99639125e-01 -1.00513103e-04 6.53808396e-01] [ 3.91140113e-03 -4.56048062e-06 9.99992350e-01 -8.08236477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434203822000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.79, Y:0.66, Z:-0.81 [[ 9.99625528e-01 -2.69098970e-02 -4.96596719e-03 2.57912338e+01] [ 2.69095948e-02 9.99637863e-01 -1.27675531e-04 6.56638660e-01] [ 4.96760457e-03 -6.00444465e-06 9.99987661e-01 -8.08770155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.82, Y:0.67, Z:-0.81 [[ 9.99627623e-01 -2.70157530e-02 -3.84233587e-03 2.58202663e+01] [ 2.70155708e-02 9.99635008e-01 -9.93185913e-05 6.65880485e-01] [ 3.84361661e-03 -4.52128929e-06 9.99992613e-01 -8.08449424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494203822000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:25.85, Y:0.67, Z:-0.81 [[ 9.99572201e-01 -2.89646746e-02 -4.05744673e-03 2.58517835e+01] [ 2.89644912e-02 9.99580436e-01 -1.03949957e-04 6.74288036e-01] [ 4.05875524e-03 -1.36163930e-05 9.99991763e-01 -8.09954259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:0.68, Z:-0.81 [[ 9.99524271e-01 -3.05755492e-02 -4.04579082e-03 2.58832113e+01] [ 3.05753805e-02 9.99532458e-01 -1.03557139e-04 6.75154466e-01] [ 4.04706556e-03 -2.01937204e-05 9.99991810e-01 -8.11926042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:0.68, Z:-0.81 [[ 9.99381883e-01 -3.50425048e-02 -2.80620152e-03 2.59137323e+01] [ 3.50424431e-02 9.99385822e-01 -7.11679001e-05 6.80242165e-01] [ 2.80697192e-03 -2.72122472e-05 9.99996060e-01 -8.12590686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:25.95, Y:0.69, Z:-0.81 [[ 9.99199344e-01 -3.99016084e-02 -2.92118345e-03 2.59453272e+01] [ 3.99015631e-02 9.99203613e-01 -7.38332074e-05 6.87023094e-01] [ 2.92180312e-03 -4.27856933e-05 9.99995731e-01 -8.13077252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.98, Y:0.69, Z:-0.81 [[ 9.99105850e-01 -4.20222298e-02 -4.65105264e-03 2.59771814e+01] [ 4.20221358e-02 9.99116673e-01 -1.17971823e-04 6.88819712e-01] [ 4.65190168e-03 -7.75808277e-05 9.99989177e-01 -8.14350357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.01, Y:0.69, Z:-0.82 [[ 9.98950909e-01 -4.53920825e-02 -6.05319198e-03 2.60085578e+01] [ 4.53919828e-02 9.98969241e-01 -1.53924495e-04 6.91823491e-01] [ 6.05393955e-03 -1.21003372e-04 9.99981667e-01 -8.15927375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.04, Y:0.70, Z:-0.82 [[ 9.98800780e-01 -4.87270582e-02 -4.76195457e-03 2.60393693e+01] [ 4.87270344e-02 9.98812125e-01 -1.21088947e-04 6.95375898e-01] [ 4.76219827e-03 -1.11092190e-04 9.99988654e-01 -8.16439756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:0.70, Z:-0.82 [[ 9.98712477e-01 -5.04982344e-02 -4.82875459e-03 2.60701565e+01] [ 5.04982326e-02 9.98724143e-01 -1.22373434e-04 6.96929653e-01] [ 4.82877343e-03 -1.21627697e-04 9.99988334e-01 -8.16987758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:0.70, Z:-0.82 [[ 9.98486207e-01 -5.47378304e-02 -5.39112506e-03 2.61026287e+01] [ 5.47378927e-02 9.98500748e-01 -1.36110911e-04 6.99204419e-01] [ 5.39049283e-03 -1.59193958e-04 9.99985459e-01 -8.16938236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:0.70, Z:-0.82 [[ 9.98240181e-01 -5.91324081e-02 -4.46097929e-03 2.61340225e+01] [ 5.91324949e-02 9.98250137e-01 -1.12563155e-04 6.98031856e-01] [ 4.45982932e-03 -1.51423771e-04 9.99990043e-01 -8.17989571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:0.70, Z:-0.82 [[ 9.98072620e-01 -6.18859306e-02 -4.60178959e-03 2.61653418e+01] [ 6.18860510e-02 9.98083215e-01 -1.16361725e-04 6.96040947e-01] [ 4.60017010e-03 -1.68649133e-04 9.99989405e-01 -8.18729309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.20, Y:0.70, Z:-0.82 [[ 9.98059887e-01 -6.20312138e-02 -5.34701745e-03 2.61972430e+01] [ 6.20313824e-02 9.98074190e-01 -1.34471564e-04 6.97092496e-01] [ 5.34506154e-03 -1.97472210e-04 9.99985696e-01 -8.19270420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.23, Y:0.70, Z:-0.82 [[ 9.98162715e-01 -6.03706063e-02 -5.15606027e-03 2.62285118e+01] [ 6.03707389e-02 9.98176015e-01 -1.30052428e-04 6.98326288e-01] [ 5.15450703e-03 -1.81461684e-04 9.99986699e-01 -8.19067320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:0.70, Z:-0.82 [[ 9.98406878e-01 -5.63284939e-02 -3.28734254e-03 2.62591660e+01] [ 5.63285258e-02 9.98412285e-01 -8.29539451e-05 6.99153787e-01] [ 3.28679585e-03 -1.02349370e-04 9.99994593e-01 -8.18788954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.29, Y:0.70, Z:-0.82 [[ 9.98571219e-01 -5.33084175e-02 -3.70593796e-03 2.62908796e+01] [ 5.33084408e-02 9.98578090e-01 -9.25754898e-05 7.00684486e-01] [ 3.70560350e-03 -1.05114555e-04 9.99993129e-01 -8.18097470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:0.70, Z:-0.82 [[ 9.98892265e-01 -4.67803990e-02 -5.08300208e-03 2.63219159e+01] [ 4.67803541e-02 9.98905192e-01 -1.27789307e-04 7.02430120e-01] [ 5.08341521e-03 -1.10136887e-04 9.99987073e-01 -8.19788240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:0.71, Z:-0.82 [[ 9.99209985e-01 -3.93945015e-02 -5.24195889e-03 2.63530801e+01] [ 3.93943527e-02 9.99223733e-01 -1.31679073e-04 7.07121556e-01] [ 5.24307716e-03 -7.49285328e-05 9.99986252e-01 -8.21022502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.38, Y:0.71, Z:-0.82 [[ 9.99339950e-01 -3.59461145e-02 -5.24792421e-03 2.63846429e+01] [ 3.59459184e-02 9.99353728e-01 -1.31707966e-04 7.09565348e-01] [ 5.24926701e-03 -5.70204235e-05 9.99986221e-01 -8.21405082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.42, Y:0.71, Z:-0.82 [[ 9.99478580e-01 -3.20556256e-02 -3.87357719e-03 2.64160843e+01] [ 3.20554905e-02 9.99486086e-01 -9.69825214e-05 7.12327268e-01] [ 3.87469534e-03 -2.72374639e-05 9.99992493e-01 -8.21788488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203822000003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:26.45, Y:0.72, Z:-0.82 [[ 9.99520977e-01 -3.09176183e-02 -1.38470721e-03 2.64471501e+01] [ 3.09176009e-02 9.99521936e-01 -3.40085361e-05 7.16147147e-01] [ 1.38509669e-03 -8.81957951e-06 9.99999041e-01 -8.20894741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:0.72, Z:-0.82 [[ 9.99500379e-01 -3.15930219e-02 -9.34329735e-04 2.64796269e+01] [ 3.15930148e-02 9.99500816e-01 -2.23373252e-05 7.17945640e-01] [ 9.34569036e-04 -7.19212819e-06 9.99999563e-01 -8.21652863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203822000002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.51, Y:0.72, Z:-0.82 [[ 9.99386653e-01 -3.49680203e-02 -1.88573974e-03 2.65105358e+01] [ 3.49679950e-02 9.99388432e-01 -4.64251322e-05 7.18602276e-01] [ 1.88620988e-03 -1.95438803e-05 9.99998221e-01 -8.22790001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:0.72, Z:-0.83 [[ 9.99306530e-01 -3.70991584e-02 -3.17993503e-03 2.65431922e+01] [ 3.70990966e-02 9.99311588e-01 -7.84375461e-05 7.17651895e-01] [ 3.18065590e-03 -3.95895650e-05 9.99994941e-01 -8.25352655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203822000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.57, Y:0.72, Z:-0.83 [[ 9.99194133e-01 -3.98925018e-02 -4.43533359e-03 2.65744744e+01] [ 3.98924066e-02 9.99203975e-01 -1.09956776e-04 7.16496562e-01] [ 4.43618941e-03 -6.70679658e-05 9.99990158e-01 -8.26062211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.61, Y:0.72, Z:-0.83 [[ 9.99182140e-01 -4.03001567e-02 -3.30881134e-03 2.66064197e+01] [ 4.03001081e-02 9.99187617e-01 -8.13700856e-05 7.17080059e-01] [ 3.30940255e-03 -5.20419185e-05 9.99994523e-01 -8.25654217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.64, Y:0.72, Z:-0.83 [[ 9.99205353e-01 -3.98265663e-02 -1.58337364e-03 2.66374362e+01] [ 3.98265551e-02 9.99206607e-01 -3.85880745e-05 7.16772539e-01] [ 1.58365423e-03 -2.45029068e-05 9.99998746e-01 -8.25142009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:0.71, Z:-0.83 [[ 9.99265018e-01 -3.83120653e-02 -1.26867842e-03 2.66697435e+01] [ 3.83120576e-02 9.99265823e-01 -3.03822895e-05 7.14561037e-01] [ 1.26891099e-03 -1.82457217e-05 9.99999195e-01 -8.25457674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:0.71, Z:-0.83 [[ 9.99321362e-01 -3.68291527e-02 6.54802224e-04 2.67008981e+01] [ 3.68291494e-02 9.99321577e-01 1.70915995e-05 7.12358354e-01] [-6.54987460e-04 7.03580844e-06 9.99999785e-01 -8.27197487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334203822000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.73, Y:0.71, Z:-0.83 [[ 9.99345636e-01 -3.61704147e-02 1.09481601e-05 2.67332880e+01] [ 3.61704147e-02 9.99345636e-01 1.36441835e-06 7.11991585e-01] [-1.09903477e-05 -9.67526028e-07 1.00000000e+00 -8.27371252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:0.71, Z:-0.83 [[ 9.99421323e-01 -3.40143572e-02 2.06811659e-04 2.67643855e+01] [ 3.40143565e-02 9.99421344e-01 6.92788340e-06 7.12638499e-01] [-2.06927634e-04 1.10691120e-07 9.99999979e-01 -8.27785351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:26.80, Y:0.72, Z:-0.83 [[ 9.99479824e-01 -3.22415233e-02 -7.52399546e-04 2.67961218e+01] [ 3.22415193e-02 9.99480107e-01 -1.74179524e-05 7.15714434e-01] [ 7.52569959e-04 -6.84961254e-06 9.99999717e-01 -8.27413964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203822000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.83, Y:0.72, Z:-0.83 [[ 9.99597849e-01 -2.81653878e-02 -3.29419912e-03 2.68269754e+01] [ 2.81652765e-02 9.99603277e-01 -8.01811163e-05 7.16242091e-01] [ 3.29515057e-03 -1.26331576e-05 9.99994571e-01 -8.28100079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:26.86, Y:0.72, Z:-0.83 [[ 9.99656579e-01 -2.60509038e-02 -2.84146421e-03 2.68582294e+01] [ 2.60508122e-02 9.99660618e-01 -6.92759459e-05 7.15718697e-01] [ 2.84230456e-03 -4.77029526e-06 9.99995961e-01 -8.28626923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203822000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.89, Y:0.72, Z:-0.83 [[ 9.99757246e-01 -2.20153661e-02 -8.79457563e-04 2.68893441e+01] [ 2.20153561e-02 9.99757632e-01 -2.10209735e-05 7.17863488e-01] [ 8.79707196e-04 1.65429913e-06 9.99999613e-01 -8.27372380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514203822000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.92, Y:0.72, Z:-0.83 [[ 9.99810594e-01 -1.94593649e-02 -3.29271717e-04 2.69208835e+01] [ 1.94593636e-02 9.99810649e-01 -7.22112261e-06 7.23505948e-01] [ 3.29349887e-04 8.12336823e-07 9.99999946e-01 -8.27598826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:0.73, Z:-0.83 [[ 9.99816933e-01 -1.91285048e-02 4.48686358e-04 2.69518026e+01] [ 1.91285014e-02 9.99817033e-01 1.18025272e-05 7.25952647e-01] [-4.48830028e-04 -3.21766896e-06 9.99999899e-01 -8.29635944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.98, Y:0.73, Z:-0.83 [[ 9.99790406e-01 -2.04705087e-02 3.18709497e-04 2.69844012e+01] [ 2.04705069e-02 9.99790457e-01 8.85974107e-06 7.27017326e-01] [-3.18824077e-04 -2.33373915e-06 9.99999949e-01 -8.32309219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.02, Y:0.72, Z:-0.83 [[ 9.99700319e-01 -2.44664714e-02 -8.15343804e-04 2.70164659e+01] [ 2.44664642e-02 9.99700651e-01 -1.87677900e-05 7.24568507e-01] [ 8.15558914e-04 -1.18641435e-06 9.99999667e-01 -8.33973398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.05, Y:0.73, Z:-0.83 [[ 9.99645506e-01 -2.66210880e-02 -4.23666882e-04 2.70471457e+01] [ 2.66210864e-02 9.99645596e-01 -9.48867135e-06 7.25232939e-01] [ 4.23769332e-04 -1.79316499e-06 9.99999910e-01 -8.34151640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:0.73, Z:-0.83 [[ 9.99558516e-01 -2.97095809e-02 -3.37265055e-04 2.70787854e+01] [ 2.97095801e-02 9.99558573e-01 -7.38503170e-06 7.27474931e-01] [ 3.37335583e-04 -2.63823183e-06 9.99999943e-01 -8.33148634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:0.73, Z:-0.83 [[ 9.99524630e-01 -3.08245460e-02 -6.01943733e-04 2.71109600e+01] [ 3.08245435e-02 9.99524811e-01 -1.35107747e-05 7.28060311e-01] [ 6.02074159e-04 -5.05028872e-06 9.99999819e-01 -8.33749437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203822000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.14, Y:0.73, Z:-0.83 [[ 9.99500745e-01 -3.15888065e-02 6.38102874e-04 2.71431586e+01] [ 3.15888024e-02 9.99500949e-01 1.65560253e-05 7.28565292e-01] [-6.38307413e-04 3.60914595e-06 9.99999796e-01 -8.33284959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.18, Y:0.73, Z:-0.83 [[ 9.99500347e-01 -3.15337512e-02 2.16293399e-03 2.71756019e+01] [ 3.15337095e-02 9.99502687e-01 5.33770213e-05 7.29611319e-01] [-2.16354151e-03 1.48549808e-05 9.99997659e-01 -8.33439174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.21, Y:0.73, Z:-0.83 [[ 9.99533631e-01 -3.04866858e-02 1.75558637e-03 2.72070187e+01] [ 3.04866553e-02 9.99535173e-01 4.41397378e-05 7.29171352e-01] [-1.75611601e-03 9.40280423e-06 9.99998458e-01 -8.34084498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.24, Y:0.73, Z:-0.84 [[ 9.99613347e-01 -2.77246291e-02 2.12167383e-03 2.72391321e+01] [ 2.77245810e-02 9.99615599e-01 5.20612035e-05 7.27763585e-01] [-2.12230163e-03 6.78144409e-06 9.99997748e-01 -8.35209892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:0.73, Z:-0.84 [[ 9.99655936e-01 -2.61337433e-02 2.24429479e-03 2.72708600e+01] [ 2.61336858e-02 9.99658455e-01 5.49231537e-05 7.28201208e-01] [-2.24496362e-03 3.74743848e-06 9.99997480e-01 -8.36179999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874203822000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.30, Y:0.73, Z:-0.84 [[ 9.99747047e-01 -2.24203939e-02 1.78004025e-03 2.73028740e+01] [ 2.24203516e-02 9.99748631e-01 4.37508213e-05 7.28556280e-01] [-1.78057372e-03 -3.83062608e-06 9.99998415e-01 -8.36599189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:0.73, Z:-0.84 [[ 9.99812444e-01 -1.93351412e-02 1.10911269e-03 2.73341802e+01] [ 1.93351227e-02 9.99813059e-01 2.73632837e-05 7.28811210e-01] [-1.10943442e-03 -5.91332161e-06 9.99999385e-01 -8.37142163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.37, Y:0.73, Z:-0.84 [[ 9.99825292e-01 -1.86879610e-02 3.82680153e-04 2.73659973e+01] [ 1.86879584e-02 9.99825365e-01 1.02170049e-05 7.29463885e-01] [-3.82804259e-04 -3.06370909e-06 9.99999927e-01 -8.38107057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.40, Y:0.73, Z:-0.84 [[ 9.99825418e-01 -1.86848197e-02 -1.04258043e-04 2.73985800e+01] [ 1.86848197e-02 9.99825424e-01 -1.37967718e-06 7.29696851e-01] [ 1.04265621e-04 -5.68606426e-07 9.99999995e-01 -8.39392040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994203822000003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:27.43, Y:0.73, Z:-0.84 [[ 9.99809261e-01 -1.95239143e-02 5.08859324e-04 2.74293146e+01] [ 1.95239098e-02 9.99809390e-01 1.39060254e-05 7.29064453e-01] [-5.09033830e-04 -3.96844945e-06 9.99999870e-01 -8.39796635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.46, Y:0.73, Z:-0.84 [[ 9.99788338e-01 -2.04890123e-02 1.86529561e-03 2.74603572e+01] [ 2.04889622e-02 9.99790078e-01 4.59216174e-05 7.28587149e-01] [-1.86584493e-03 -7.69392636e-06 9.99998259e-01 -8.40745396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:0.73, Z:-0.84 [[ 9.99740744e-01 -2.26120283e-02 2.67222219e-03 2.74930722e+01] [ 2.26119376e-02 9.99744315e-01 6.41607304e-05 7.26272202e-01] [-2.67298974e-03 -3.71997513e-06 9.99996428e-01 -8.41495259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:0.72, Z:-0.84 [[ 9.99715299e-01 -2.37256269e-02 2.53304724e-03 2.75238110e+01] [ 2.37255497e-02 9.99718508e-01 6.05041335e-05 7.24369127e-01] [-2.53376970e-03 -3.88969685e-07 9.99996790e-01 -8.42538342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114203822000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:27.56, Y:0.72, Z:-0.84 [[ 9.99704591e-01 -2.42188202e-02 2.04455655e-03 2.75564957e+01] [ 2.42187703e-02 9.99706681e-01 4.91657759e-05 7.23072198e-01] [-2.04514758e-03 3.65393599e-07 9.99997909e-01 -8.42627164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.59, Y:0.72, Z:-0.84 [[ 9.99670681e-01 -2.55581179e-02 2.30484177e-03 2.75887315e+01] [ 2.55580585e-02 9.99673338e-01 5.52089175e-05 7.24292420e-01] [-2.30549990e-03 3.71654462e-06 9.99997342e-01 -8.42585641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:0.73, Z:-0.84 [[ 9.99651864e-01 -2.61920202e-02 3.18270776e-03 2.76198220e+01] [ 2.61919128e-02 9.99656930e-01 7.54075023e-05 7.25450694e-01] [-3.18359095e-03 7.97995410e-06 9.99994932e-01 -8.42893425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.65, Y:0.72, Z:-0.84 [[ 9.99663907e-01 -2.57852210e-02 2.68260964e-03 2.76525126e+01] [ 2.57851426e-02 9.99667506e-01 6.38133921e-05 7.22813490e-01] [-2.68336313e-03 5.37952724e-06 9.99996400e-01 -8.43642580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.69, Y:0.72, Z:-0.84 [[ 9.99665546e-01 -2.57215628e-02 2.68260486e-03 2.76851807e+01] [ 2.57214836e-02 9.99669146e-01 6.40193854e-05 7.23483661e-01] [-2.68336399e-03 5.00260326e-06 9.99996400e-01 -8.44394295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.72, Y:0.72, Z:-0.85 [[ 9.99694760e-01 -2.46596126e-02 1.51371246e-03 2.77160855e+01] [ 2.46595849e-02 9.99695906e-01 3.70094959e-05 7.21760496e-01] [-1.51416479e-03 3.29321796e-07 9.99998854e-01 -8.45810307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.75, Y:0.72, Z:-0.85 [[ 9.99729266e-01 -2.32648208e-02 3.76850280e-04 2.77486752e+01] [ 2.32648187e-02 9.99729337e-01 9.82497218e-06 7.20753898e-01] [-3.76976857e-04 -1.05495878e-06 9.99999929e-01 -8.47005629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.78, Y:0.72, Z:-0.85 [[ 9.99820012e-01 -1.89692264e-02 -3.34982484e-04 2.77804513e+01] [ 1.89692252e-02 9.99820068e-01 -6.66011028e-06 7.20858762e-01] [ 3.35048547e-04 3.04553350e-07 9.99999944e-01 -8.47891831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.81, Y:0.72, Z:-0.85 [[ 9.99906408e-01 -1.35378320e-02 -1.97536054e-03 2.78118305e+01] [ 1.35377698e-02 9.99908359e-01 -4.48307345e-05 7.23839056e-01] [ 1.97578643e-03 1.80845623e-05 9.99998048e-01 -8.48921028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.84, Y:0.72, Z:-0.85 [[ 9.99934271e-01 -1.12766561e-02 -2.07140401e-03 2.78424002e+01] [ 1.12765812e-02 9.99936416e-01 -4.78669649e-05 7.24786353e-01] [ 2.07181209e-03 2.45054632e-05 9.99997853e-01 -8.49446248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:0.73, Z:-0.85 [[ 9.99955334e-01 -9.38032729e-03 -1.15747174e-03 2.78738756e+01] [ 9.38030326e-03 9.99956004e-01 -2.61826804e-05 7.26228289e-01] [ 1.15766641e-03 1.53240750e-05 9.99999330e-01 -8.49917820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:0.73, Z:-0.85 [[ 9.99978730e-01 -6.46286292e-03 8.77625012e-04 2.79049262e+01] [ 6.46284717e-03 9.99979115e-01 2.07815631e-05 7.31860906e-01] [-8.77740991e-04 -1.51091648e-05 9.99999615e-01 -8.49691858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.94, Y:0.73, Z:-0.85 [[ 9.99984242e-01 -5.41789576e-03 1.47018501e-03 2.79366195e+01] [ 5.41785021e-03 9.99985323e-01 3.49607199e-05 7.33849309e-01] [-1.47035284e-03 -2.69949269e-05 9.99998919e-01 -8.50060445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.97, Y:0.73, Z:-0.85 [[ 9.99981204e-01 -5.15055084e-03 3.32605806e-03 2.79678586e+01] [ 5.15032234e-03 9.99986734e-01 7.72618674e-05 7.34038675e-01] [-3.32641188e-03 -6.01301440e-05 9.99994466e-01 -8.50813850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.00, Y:0.74, Z:-0.85 [[ 9.99973510e-01 -5.87675076e-03 4.29460696e-03 2.80003808e+01] [ 5.87637730e-03 9.99982729e-01 9.95737283e-05 7.35985340e-01] [-4.29511796e-03 -7.43343597e-05 9.99990773e-01 -8.50772097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.03, Y:0.74, Z:-0.85 [[ 9.99964320e-01 -7.13126121e-03 4.52800971e-03 2.80317587e+01] [ 7.13086119e-03 9.99974570e-01 1.04481067e-04 7.39162941e-01] [-4.52863964e-03 -7.21887304e-05 9.99989743e-01 -8.51418554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.06, Y:0.74, Z:-0.85 [[ 9.99941974e-01 -1.01966869e-02 3.47516917e-03 2.80642022e+01] [ 1.01964671e-02 9.99948011e-01 8.09614498e-05 7.43471908e-01] [-3.47581404e-03 -4.55223039e-05 9.99993958e-01 -8.51991845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203822000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.10, Y:0.74, Z:-0.85 [[ 9.99918551e-01 -1.23326402e-02 3.28602285e-03 2.80965575e+01] [ 1.23324573e-02 9.99923949e-01 7.59277656e-05 7.44402921e-01] [-3.28670933e-03 -3.53968450e-05 9.99994598e-01 -8.53029179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.13, Y:0.74, Z:-0.85 [[ 9.99855098e-01 -1.64317634e-02 4.44755469e-03 2.81287998e+01] [ 1.64314657e-02 9.99864989e-01 1.03480919e-04 7.43866455e-01] [-4.44865460e-03 -3.03860824e-05 9.99990104e-01 -8.54161948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.16, Y:0.74, Z:-0.86 [[ 9.99825706e-01 -1.81846014e-02 4.22826768e-03 2.81603562e+01] [ 1.81843561e-02 9.99834646e-01 9.64430484e-05 7.44457510e-01] [-4.22932230e-03 -1.95379136e-05 9.99991056e-01 -8.55493380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.19, Y:0.75, Z:-0.86 [[ 9.99793104e-01 -2.00433912e-02 3.46587640e-03 2.81915941e+01] [ 2.00432376e-02 9.99799111e-01 7.90518181e-05 7.45535743e-01] [-3.46676461e-03 -9.56807835e-06 9.99993991e-01 -8.56957983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.22, Y:0.75, Z:-0.86 [[ 9.99759887e-01 -2.17803328e-02 2.40528270e-03 2.82233195e+01] [ 2.17802628e-02 9.99762780e-01 5.52912452e-05 7.45942314e-01] [-2.40591638e-03 -2.89027975e-06 9.99997106e-01 -8.57446427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:0.75, Z:-0.86 [[ 9.99665025e-01 -2.56301052e-02 3.59659858e-03 2.82553127e+01] [ 2.56299762e-02 9.99671495e-01 8.19692685e-05 7.46806363e-01] [-3.59751796e-03 1.02389249e-05 9.99993529e-01 -8.58085797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:0.75, Z:-0.86 [[ 9.99619614e-01 -2.72250299e-02 4.40729016e-03 2.82873749e+01] [ 2.72248536e-02 9.99629330e-01 9.99897710e-05 7.47534737e-01] [-4.40837874e-03 2.00360932e-05 9.99990283e-01 -8.58303318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834203822000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.32, Y:0.75, Z:-0.86 [[ 9.99525917e-01 -3.07117535e-02 2.17452083e-03 2.83195534e+01] [ 3.07117179e-02 9.99528283e-01 4.97748849e-05 7.45431186e-01] [-2.17502374e-03 1.70319828e-05 9.99997634e-01 -8.59258548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.35, Y:0.74, Z:-0.86 [[ 9.99491917e-01 -3.18658889e-02 6.87194953e-04 2.83513066e+01] [ 3.18658851e-02 9.99492154e-01 1.64393512e-05 7.44248913e-01] [-6.87369818e-04 5.46707672e-06 9.99999764e-01 -8.60432460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.38, Y:0.74, Z:-0.86 [[ 9.99483887e-01 -3.21039503e-02 1.13810762e-03 2.83834397e+01] [ 3.21039409e-02 9.99484535e-01 2.64834280e-05 7.40460789e-01] [-1.13837119e-03 1.00679803e-05 9.99999352e-01 -8.61584415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203822000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.42, Y:0.74, Z:-0.86 [[ 9.99512412e-01 -3.11983162e-02 1.26600804e-03 2.84159666e+01] [ 3.11983042e-02 9.99513214e-01 2.92755189e-05 7.38311597e-01] [-1.26630512e-03 1.02360596e-05 9.99999198e-01 -8.61450063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:0.74, Z:-0.86 [[ 9.99529486e-01 -3.06472386e-02 1.24638940e-03 2.84474468e+01] [ 3.06472269e-02 9.99530263e-01 2.85172513e-05 7.36258507e-01] [-1.24667789e-03 9.69454509e-06 9.99999223e-01 -8.62611535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203822000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.48, Y:0.74, Z:-0.86 [[ 9.99549154e-01 -3.00006837e-02 1.20323388e-03 2.84791396e+01] [ 3.00006720e-02 9.99549878e-01 2.77578718e-05 7.35258499e-01] [-1.20352503e-03 8.35246775e-06 9.99999276e-01 -8.61763259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.51, Y:0.73, Z:-0.86 [[ 9.99563331e-01 -2.94179234e-02 2.78083293e-03 2.85107795e+01] [ 2.94178613e-02 9.99567199e-01 6.32461280e-05 7.30021925e-01] [-2.78148995e-03 1.85876470e-05 9.99996131e-01 -8.62721426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:28.54, Y:0.72, Z:-0.86 [[ 9.99607718e-01 -2.78912655e-02 2.54708429e-03 2.85425927e+01] [ 2.78912102e-02 9.99610963e-01 5.72151179e-05 7.23072757e-01] [-2.54768918e-03 1.38485900e-05 9.99996755e-01 -8.63015663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.58, Y:0.72, Z:-0.86 [[ 9.99638233e-01 -2.68211933e-02 2.00681953e-03 2.85750498e+01] [ 2.68211565e-02 9.99640247e-01 4.52381294e-05 7.20454037e-01] [-2.00731091e-03 8.60345690e-06 9.99997985e-01 -8.64206627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:0.72, Z:-0.87 [[ 9.99666185e-01 -2.58143974e-02 1.06570228e-03 2.86059205e+01] [ 2.58143863e-02 9.99666753e-01 2.42194187e-05 7.16864004e-01] [-1.06597235e-03 3.29911645e-06 9.99999432e-01 -8.66352731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:0.71, Z:-0.87 [[ 9.99757305e-01 -2.19874364e-02 -1.37281432e-03 2.86380239e+01] [ 2.19874173e-02 9.99758247e-01 -2.90139688e-05 7.09155631e-01] [ 1.37312038e-03 -1.17771399e-06 9.99999057e-01 -8.67519561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.67, Y:0.71, Z:-0.87 [[ 9.99817245e-01 -1.90677538e-02 -1.37711081e-03 2.86683685e+01] [ 1.90677316e-02 9.99818194e-01 -2.92356221e-05 7.08008615e-01] [ 1.37741790e-03 2.97189982e-06 9.99999051e-01 -8.66885966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.70, Y:0.71, Z:-0.87 [[ 9.99889048e-01 -1.48528037e-02 -1.13375366e-03 2.86998056e+01] [ 1.48527859e-02 9.99889691e-01 -2.42041838e-05 7.06244843e-01] [ 1.13398810e-03 7.36209799e-06 9.99999357e-01 -8.66705733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:28.73, Y:0.70, Z:-0.87 [[ 9.99911940e-01 -1.32481928e-02 -7.72579952e-04 2.87314257e+01] [ 1.32481842e-02 9.99912239e-01 -1.62939843e-05 7.04817636e-01] [ 7.72728015e-04 6.05726797e-06 9.99999701e-01 -8.66693041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.76, Y:0.70, Z:-0.87 [[ 9.99917238e-01 -1.28607765e-02 -3.41901494e-04 2.87620154e+01] [ 1.28607748e-02 9.99917297e-01 -7.17471419e-06 7.01639264e-01] [ 3.41965490e-04 2.77700227e-06 9.99999942e-01 -8.68429298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.79, Y:0.70, Z:-0.87 [[ 9.99931197e-01 -1.17259323e-02 3.22200237e-04 2.87928149e+01] [ 1.17259305e-02 9.99931249e-01 7.56866471e-06 6.95977985e-01] [-3.22266835e-04 -3.79004638e-06 9.99999948e-01 -8.70044441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:0.70, Z:-0.87 [[ 9.99946378e-01 -1.03556252e-02 4.16473048e-05 2.88240937e+01] [ 1.03556252e-02 9.99946379e-01 1.45182758e-06 6.96733024e-01] [-4.16601063e-05 -1.02046585e-06 9.99999999e-01 -8.70362410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:28.86, Y:0.70, Z:-0.87 [[ 9.99967370e-01 -8.07801189e-03 -6.40519323e-05 2.88554793e+01] [ 8.07801186e-03 9.99967372e-01 -8.48816001e-07 6.98538462e-01] [ 6.40566991e-05 3.31376036e-07 9.99999998e-01 -8.69811343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374203822000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.89, Y:0.70, Z:-0.87 [[ 9.99989472e-01 -4.34589661e-03 1.47246266e-03 2.88865905e+01] [ 4.34585342e-03 9.99990556e-01 3.25318259e-05 6.99173072e-01] [-1.47259013e-03 -2.61323766e-05 9.99998915e-01 -8.69701961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.92, Y:0.70, Z:-0.87 [[ 9.99992754e-01 -3.07440822e-03 2.24478914e-03 2.89178177e+01] [ 3.07430540e-03 9.99995273e-01 4.92515467e-05 6.97226048e-01] [-2.24492995e-03 -4.23500225e-05 9.99997479e-01 -8.70771884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.95, Y:0.70, Z:-0.87 [[ 9.99990668e-01 -3.76973203e-03 2.11010217e-03 2.89493015e+01] [ 3.76964224e-03 9.99992894e-01 4.65291189e-05 6.95791252e-01] [-2.11026258e-03 -3.85743545e-05 9.99997773e-01 -8.72280148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.98, Y:0.69, Z:-0.87 [[ 9.99979843e-01 -5.73231867e-03 2.73033582e-03 2.89818481e+01] [ 5.73217591e-03 9.99983569e-01 6.01094076e-05 6.93823346e-01] [-2.73063552e-03 -4.44574308e-05 9.99996271e-01 -8.73121761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.01, Y:0.69, Z:-0.87 [[ 9.99935006e-01 -1.04217590e-02 4.62277980e-03 2.90140280e+01] [ 1.04213942e-02 9.99945690e-01 1.02992941e-04 6.91142405e-01] [-4.62360211e-03 -5.48104366e-05 9.99989310e-01 -8.71891353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:0.69, Z:-0.87 [[ 9.99907287e-01 -1.27958616e-02 4.65651961e-03 2.90453562e+01] [ 1.27955323e-02 9.99918129e-01 1.00505552e-04 6.91095816e-01] [-4.65742443e-03 -4.09135864e-05 9.99989153e-01 -8.72861066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.08, Y:0.69, Z:-0.87 [[ 9.99875219e-01 -1.55924121e-02 2.53452710e-03 2.90762782e+01] [ 1.55923228e-02 9.99878431e-01 5.49817760e-05 6.89807731e-01] [-2.53507628e-03 -1.54557506e-05 9.99996787e-01 -8.73001488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.11, Y:0.69, Z:-0.87 [[ 9.99876005e-01 -1.56651087e-02 1.60593193e-03 2.91081862e+01] [ 1.56650721e-02 9.99877295e-01 3.53484659e-05 6.88965748e-01] [-1.60628861e-03 -1.01870435e-05 9.99998710e-01 -8.74460897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.14, Y:0.69, Z:-0.87 [[ 9.99895500e-01 -1.44145929e-02 1.09911793e-03 2.91402882e+01] [ 1.44145747e-02 9.99896104e-01 2.44937566e-05 6.88903855e-01] [-1.09935680e-03 -8.64787943e-06 9.99999396e-01 -8.74652429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.17, Y:0.69, Z:-0.88 [[ 9.99950228e-01 -9.97690411e-03 -4.59964645e-05 2.91706163e+01] [ 9.97690408e-03 9.99950229e-01 -7.01383609e-07 6.87969176e-01] [ 4.60011728e-05 2.42446385e-07 9.99999999e-01 -8.76137456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:0.69, Z:-0.88 [[ 9.99989725e-01 -3.91200084e-03 -2.29059436e-03 2.92013817e+01] [ 3.91190022e-03 9.99992347e-01 -4.84047576e-05 6.89081554e-01] [ 2.29076619e-03 3.94436836e-05 9.99997375e-01 -8.77999004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:0.69, Z:-0.88 [[ 9.99997293e-01 -1.01580586e-03 -2.09357298e-03 2.92306500e+01] [ 1.01571370e-03 9.99999483e-01 -4.50818781e-05 6.90652635e-01] [ 2.09361769e-03 4.29552853e-05 9.99997807e-01 -8.79037569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:0.69, Z:-0.88 [[ 9.99996839e-01 1.23386461e-03 -2.19091219e-03 2.92599381e+01] [-1.23397102e-03 9.99999238e-01 -4.72154774e-05 6.93037957e-01] [ 2.19085226e-03 4.99188503e-05 9.99997599e-01 -8.79406331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:0.70, Z:-0.88 [[ 9.99985963e-01 3.88389830e-03 -3.60396914e-03 2.92882989e+01] [-3.88420359e-03 9.99992453e-01 -7.77151958e-05 6.98330801e-01] [ 3.60364010e-03 9.17126548e-05 9.99993503e-01 -8.80661582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:0.70, Z:-0.88 [[ 9.99983913e-01 3.73222386e-03 -4.27136882e-03 2.93168954e+01] [-3.73265269e-03 9.99993029e-01 -9.24278677e-05 7.00522119e-01] [ 4.27099409e-03 1.08369917e-04 9.99990873e-01 -8.81619990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:0.70, Z:-0.88 [[ 9.99991576e-01 1.60569618e-03 -3.77750076e-03 2.93460280e+01] [-1.60601771e-03 9.99998707e-01 -8.20850319e-05 7.02860124e-01] [ 3.77736407e-03 8.81510736e-05 9.99992862e-01 -8.82475666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:0.70, Z:-0.88 [[ 9.99992891e-01 2.16495414e-04 -3.76441340e-03 2.93745729e+01] [-2.16805576e-04 9.99999973e-01 -8.19852440e-05 7.04311612e-01] [ 3.76439555e-03 8.28008070e-05 9.99992911e-01 -8.82794762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:0.71, Z:-0.88 [[ 9.99992318e-01 -9.16720052e-04 -3.81104760e-03 2.94022505e+01] [ 9.16408497e-04 9.99999577e-01 -8.34959197e-05 7.06044740e-01] [ 3.81112252e-03 8.00028018e-05 9.99992734e-01 -8.83724819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:0.71, Z:-0.88 [[ 9.99991380e-01 -2.01048032e-03 -3.63299097e-03 2.94306885e+01] [ 2.01020460e-03 9.99997976e-01 -7.95448119e-05 7.07574511e-01] [ 3.63314354e-03 7.22410710e-05 9.99993398e-01 -8.84046109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.46, Y:0.71, Z:-0.88 [[ 9.99992251e-01 -3.66427087e-03 -1.43939593e-03 2.94580556e+01] [ 3.66422783e-03 9.99993286e-01 -3.25409147e-05 7.12163858e-01] [ 1.43950551e-03 2.72663879e-05 9.99998964e-01 -8.83705623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.49, Y:0.72, Z:-0.88 [[ 9.99987898e-01 -4.76399067e-03 -1.22801701e-03 2.94872086e+01] [ 4.76396127e-03 9.99988652e-01 -2.68702688e-05 7.17861524e-01] [ 1.22813109e-03 2.10197181e-05 9.99999246e-01 -8.83444395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:29.52, Y:0.72, Z:-0.88 [[ 9.99980932e-01 -5.73898845e-03 -2.28037556e-03 2.95178502e+01] [ 5.73889072e-03 9.99983531e-01 -4.93953880e-05 7.19538507e-01] [ 2.28062149e-03 3.63076200e-05 9.99997399e-01 -8.84422442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:0.72, Z:-0.89 [[ 9.99964015e-01 -7.84862382e-03 -3.22004263e-03 2.95473040e+01] [ 7.84843788e-03 9.99969198e-01 -7.03766182e-05 7.20690187e-01] [ 3.22049581e-03 4.51017811e-05 9.99994813e-01 -8.86437317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:0.72, Z:-0.89 [[ 9.99918110e-01 -1.22749098e-02 -3.61949492e-03 2.95756185e+01] [ 1.22747036e-02 9.99924660e-01 -7.91661553e-05 7.21962416e-01] [ 3.62019398e-03 3.47314450e-05 9.99993446e-01 -8.87361936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:0.72, Z:-0.89 [[ 9.99886731e-01 -1.47756857e-02 -2.86440148e-03 2.96050668e+01] [ 1.47755663e-02 9.99890833e-01 -6.28126555e-05 7.21464830e-01] [ 2.86501688e-03 2.04823867e-05 9.99995896e-01 -8.88065906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:0.72, Z:-0.89 [[ 9.99816149e-01 -1.91577159e-02 -8.06513904e-04 2.96358017e+01] [ 1.91577080e-02 9.99816474e-01 -1.75292826e-05 7.22536440e-01] [ 8.06701709e-04 2.07510192e-06 9.99999675e-01 -8.86465365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:0.72, Z:-0.89 [[ 9.99816853e-01 -1.91209391e-02 -8.06532926e-04 2.96676281e+01] [ 1.91209319e-02 9.99817178e-01 -1.66533549e-05 7.23180237e-01] [ 8.06703902e-04 1.22864373e-06 9.99999675e-01 -8.87197902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:0.73, Z:-0.89 [[ 9.99795136e-01 -2.02334866e-02 -5.41176541e-04 2.96987741e+01] [ 2.02334835e-02 9.99795282e-01 -1.11652711e-05 7.26860087e-01] [ 5.41291665e-04 2.13097091e-07 9.99999854e-01 -8.87160957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:0.73, Z:-0.89 [[ 9.99777590e-01 -2.10678272e-02 -9.57865354e-04 2.97302474e+01] [ 2.10678178e-02 9.99778049e-01 -1.98803252e-05 7.28910714e-01] [ 9.58071590e-04 -3.04229130e-07 9.99999541e-01 -8.88186667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:29.76, Y:0.73, Z:-0.89 [[ 9.99750498e-01 -2.22971429e-02 -1.33380795e-03 2.97616511e+01] [ 2.22971250e-02 9.99751388e-01 -2.82724006e-05 7.27097115e-01] [ 1.33410675e-03 -1.47473610e-06 9.99999110e-01 -8.88953420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.79, Y:0.73, Z:-0.89 [[ 9.99739789e-01 -2.28085641e-02 -3.51238265e-04 2.97931730e+01] [ 2.28085630e-02 9.99739851e-01 -7.02537993e-06 7.28085826e-01] [ 3.51307129e-04 -9.87688243e-07 9.99999938e-01 -8.90101299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.82, Y:0.73, Z:-0.89 [[ 9.99745329e-01 -2.25522583e-02 8.19683138e-04 2.98244661e+01] [ 2.25522507e-02 9.99745665e-01 1.85012009e-05 7.29450719e-01] [-8.19891908e-04 -1.07896288e-08 9.99999664e-01 -8.91549176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:0.73, Z:-0.89 [[ 9.99767246e-01 -2.15721302e-02 -3.12443348e-04 2.98558556e+01] [ 2.15721293e-02 9.99767295e-01 -6.18650466e-06 7.30679394e-01] [ 3.12504097e-04 -5.55003588e-07 9.99999951e-01 -8.92453441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:0.73, Z:-0.89 [[ 9.99775778e-01 -2.11508447e-02 -1.01753244e-03 2.98884474e+01] [ 2.11508346e-02 9.99776296e-01 -2.07409370e-05 7.31210099e-01] [ 1.01774350e-03 -7.85373770e-07 9.99999482e-01 -8.92566894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.92, Y:0.73, Z:-0.89 [[ 9.99775678e-01 -2.11665338e-02 -7.56511078e-04 2.99194223e+01] [ 2.11665282e-02 9.99775964e-01 -1.53897651e-05 7.30634829e-01] [ 7.56667340e-04 -6.26400269e-07 9.99999714e-01 -8.93181356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:29.95, Y:0.73, Z:-0.89 [[ 9.99766827e-01 -2.15831919e-02 -6.76960270e-04 2.99510021e+01] [ 2.15831876e-02 9.99767056e-01 -1.36746064e-05 7.29096248e-01] [ 6.77097718e-04 -9.39542649e-07 9.99999771e-01 -8.92288911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.98, Y:0.73, Z:-0.89 [[ 9.99769712e-01 -2.14015578e-02 -1.57997597e-03 2.99827394e+01] [ 2.14015320e-02 9.99770960e-01 -3.32339252e-05 7.29853404e-01] [ 1.58032535e-03 -5.87634401e-07 9.99998751e-01 -8.93044292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:0.73, Z:-0.89 [[ 9.99772866e-01 -2.11975600e-02 -2.20895837e-03 3.00143217e+01] [ 2.11975088e-02 9.99775306e-01 -4.66226320e-05 7.31046261e-01] [ 2.20945032e-03 -2.12371944e-07 9.99997559e-01 -8.94273045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.05, Y:0.73, Z:-0.89 [[ 9.99789675e-01 -2.04356904e-02 -1.72854782e-03 3.00450985e+01] [ 2.04356572e-02 9.99791169e-01 -3.69213048e-05 7.32026453e-01] [ 1.72894136e-03 1.58952859e-06 9.99998505e-01 -8.93676579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:0.73, Z:-0.89 [[ 9.99839384e-01 -1.78745530e-02 1.30664597e-03 3.00753123e+01] [ 1.78745314e-02 9.99840237e-01 2.81729982e-05 7.31853877e-01] [-1.30694080e-03 -4.81278866e-06 9.99999146e-01 -8.94439653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.11, Y:0.73, Z:-0.90 [[ 9.99874087e-01 -1.58660919e-02 2.76316359e-04 3.01060879e+01] [ 1.58660907e-02 9.99874126e-01 6.69185136e-06 7.30398413e-01] [-2.76387752e-04 -2.30694836e-06 9.99999962e-01 -8.95316506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.14, Y:0.73, Z:-0.90 [[ 9.99902101e-01 -1.39129374e-02 -1.48967379e-03 3.01379273e+01] [ 1.39129064e-02 9.99903210e-01 -3.11819965e-05 7.27895168e-01] [ 1.48996344e-03 1.04532518e-05 9.99998890e-01 -8.97431407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.17, Y:0.73, Z:-0.90 [[ 9.99951201e-01 -9.32315856e-03 -3.26712302e-03 3.01684142e+01] [ 9.32298106e-03 9.99956538e-01 -6.95554516e-05 7.29984086e-01] [ 3.26762950e-03 3.90927313e-05 9.99994661e-01 -8.96893563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.20, Y:0.73, Z:-0.90 [[ 9.99973094e-01 -6.90584061e-03 -2.47414658e-03 3.01980936e+01] [ 6.90572992e-03 9.99976154e-01 -5.32765062e-05 7.34345247e-01] [ 2.47445550e-03 3.61892846e-05 9.99996938e-01 -8.97425201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:0.74, Z:-0.90 [[ 9.99989918e-01 -4.22309795e-03 -1.52638290e-03 3.02279316e+01] [ 4.22305276e-03 9.99991082e-01 -3.28289363e-05 7.38085578e-01] [ 1.52650793e-03 2.63826098e-05 9.99998835e-01 -8.96815404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.26, Y:0.74, Z:-0.90 [[ 9.99999055e-01 -8.18506240e-04 1.10443898e-03 3.02577366e+01] [ 8.18481019e-04 9.99999665e-01 2.32873427e-05 7.39593871e-01] [-1.10445767e-03 -2.23833583e-05 9.99999390e-01 -8.96367052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:0.74, Z:-0.90 [[ 9.99999084e-01 1.20284082e-04 1.34838728e-03 3.02893521e+01] [-1.20323651e-04 9.99999992e-01 2.92644881e-05 7.39356092e-01] [-1.34838375e-03 -2.94267042e-05 9.99999090e-01 -8.96706221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:0.74, Z:-0.90 [[ 9.99998838e-01 9.53605718e-04 1.18900585e-03 3.03202430e+01] [-9.53637132e-04 9.99999545e-01 2.58530624e-05 7.38752878e-01] [-1.18898065e-03 -2.69869125e-05 9.99999293e-01 -8.98165311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:0.74, Z:-0.90 [[ 9.99998265e-01 1.81318944e-03 4.27982156e-04 3.03514739e+01] [-1.81319373e-03 9.99998356e-01 9.65328075e-06 7.38274645e-01] [-4.27963950e-04 -1.04292786e-05 9.99999908e-01 -9.00221645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:0.74, Z:-0.90 [[ 9.99997199e-01 2.28987390e-03 5.98180638e-04 3.03822326e+01] [-2.28988208e-03 9.99997378e-01 1.29879863e-05 7.40140765e-01] [-5.98149329e-04 -1.43577130e-05 9.99999821e-01 -9.01174842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.41, Y:0.74, Z:-0.90 [[ 9.99996122e-01 2.58504769e-03 1.03607520e-03 3.04127633e+01] [-2.58507313e-03 9.99996658e-01 2.32135232e-05 7.42898910e-01] [-1.03601173e-03 -2.58917633e-05 9.99999463e-01 -9.01597244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.44, Y:0.75, Z:-0.90 [[ 9.99997964e-01 1.72271120e-03 1.05081250e-03 3.04432055e+01] [-1.72273556e-03 9.99998516e-01 2.22784015e-05 7.45293644e-01] [-1.05077256e-03 -2.40886282e-05 9.99999448e-01 -9.02377171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:0.75, Z:-0.90 [[ 9.99999879e-01 -1.61675167e-04 4.63647711e-04 3.04737457e+01] [ 1.61670626e-04 9.99999987e-01 9.82985060e-06 7.45419012e-01] [-4.63649294e-04 -9.75489120e-06 9.99999892e-01 -9.02620986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:30.50, Y:0.75, Z:-0.90 [[ 9.99996958e-01 -2.31173779e-03 8.60146049e-04 3.05043280e+01] [ 2.31172273e-03 9.99997328e-01 1.85027300e-05 7.45778388e-01] [-8.60186524e-04 -1.65142545e-05 9.99999630e-01 -9.02490923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.54, Y:0.75, Z:-0.90 [[ 9.99985770e-01 -5.15999639e-03 1.35419493e-03 3.05360349e+01] [ 5.15996157e-03 9.99986687e-01 2.92068847e-05 7.45673454e-01] [-1.35432761e-03 -2.22188753e-05 9.99999083e-01 -9.03844918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:0.74, Z:-0.90 [[ 9.99937607e-01 -1.10414151e-02 1.69375653e-03 3.05675817e+01] [ 1.10413647e-02 9.99939042e-01 3.91038761e-05 7.44451541e-01] [-1.69408504e-03 -2.04000528e-05 9.99998565e-01 -9.04288131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:0.74, Z:-0.91 [[ 9.99906229e-01 -1.36114845e-02 1.50387301e-03 3.05996866e+01] [ 1.36114508e-02 9.99907359e-01 3.26487133e-05 7.43735060e-01] [-1.50417809e-03 -1.21757583e-05 9.99998869e-01 -9.05568163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:0.74, Z:-0.91 [[ 9.99879922e-01 -1.54633574e-02 1.01257877e-03 3.06305597e+01] [ 1.54633431e-02 9.99880435e-01 2.20266386e-05 7.43293424e-01] [-1.01279831e-03 -6.36614078e-06 9.99999487e-01 -9.06524431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:0.74, Z:-0.91 [[ 9.99866234e-01 -1.63373405e-02 -7.77886902e-04 3.06628616e+01] [ 1.63373337e-02 9.99866537e-01 -1.51325243e-05 7.41334188e-01] [ 7.78030308e-04 2.42190216e-06 9.99999697e-01 -9.07748570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.69, Y:0.74, Z:-0.91 [[ 9.99873203e-01 -1.58525436e-02 -1.50831913e-03 3.06928330e+01] [ 1.58525155e-02 9.99874341e-01 -3.05471843e-05 7.39868014e-01] [ 1.50861385e-03 6.63265848e-06 9.99998862e-01 -9.09103686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.72, Y:0.74, Z:-0.91 [[ 9.99888023e-01 -1.48268985e-02 -2.02601163e-03 3.07238553e+01] [ 1.48268446e-02 9.99890075e-01 -4.16293174e-05 7.39327926e-01] [ 2.02640616e-03 1.15852963e-05 9.99997947e-01 -9.10232938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:0.74, Z:-0.91 [[ 9.99906152e-01 -1.34933137e-02 -2.37011702e-03 3.07554883e+01] [ 1.34932361e-02 9.99908961e-01 -4.87342298e-05 7.39964637e-01] [ 2.37055883e-03 1.67491076e-05 9.99997190e-01 -9.10813513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:0.74, Z:-0.91 [[ 9.99940422e-01 -1.05951285e-02 -2.62610099e-03 3.07855745e+01] [ 1.05950216e-02 9.99943870e-01 -5.46046766e-05 7.40450731e-01] [ 2.62653213e-03 2.67778267e-05 9.99996550e-01 -9.10837090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.82, Y:0.74, Z:-0.91 [[ 9.99958540e-01 -8.81575214e-03 -2.28049541e-03 3.08159280e+01] [ 8.81566692e-03 9.99961140e-01 -4.74184789e-05 7.39453421e-01] [ 2.28082482e-03 2.73124250e-05 9.99997399e-01 -9.11090580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.85, Y:0.74, Z:-0.91 [[ 9.99969761e-01 -7.57927307e-03 -1.74102218e-03 3.08455397e+01] [ 7.57922164e-03 9.99971277e-01 -3.61350426e-05 7.38338671e-01] [ 1.74124605e-03 2.29383569e-05 9.99998484e-01 -9.12874256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:0.74, Z:-0.91 [[ 9.99977078e-01 -6.44381975e-03 -2.07847514e-03 3.08756296e+01] [ 6.44374385e-03 9.99979238e-01 -4.32123018e-05 7.38407551e-01] [ 2.07871044e-03 2.98181499e-05 9.99997839e-01 -9.13386663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:0.74, Z:-0.91 [[ 9.99988153e-01 -4.23530566e-03 -2.39921099e-03 3.09051390e+01] [ 4.23519818e-03 9.99991030e-01 -4.98805240e-05 7.39921821e-01] [ 2.39940073e-03 3.97187991e-05 9.99997121e-01 -9.13822553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.93, Y:0.74, Z:-0.91 [[ 9.99991331e-01 -3.61455105e-03 -2.06694542e-03 3.09348045e+01] [ 3.61446933e-03 9.99993467e-01 -4.32682877e-05 7.39653237e-01] [ 2.06708831e-03 3.57970018e-05 9.99997863e-01 -9.14620599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.96, Y:0.74, Z:-0.91 [[ 9.99994117e-01 -3.16814791e-03 -1.31460304e-03 3.09641708e+01] [ 3.16811396e-03 9.99994981e-01 -2.79104566e-05 7.38801595e-01] [ 1.31468486e-03 2.37454801e-05 9.99999136e-01 -9.14934906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:0.74, Z:-0.91 [[ 9.99993963e-01 -3.32674025e-03 -1.00324139e-03 3.09949047e+01] [ 3.32672096e-03 9.99994466e-01 -2.08928839e-05 7.38842476e-01] [ 1.00330534e-03 1.75552536e-05 9.99999497e-01 -9.14113092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.03, Y:0.74, Z:-0.92 [[ 9.99992387e-01 -3.80590431e-03 -8.61153344e-04 3.10251388e+01] [ 3.80589027e-03 9.99992757e-01 -1.79338463e-05 7.39541207e-01] [ 8.61215362e-04 1.46562546e-05 9.99999629e-01 -9.15381503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:0.74, Z:-0.92 [[ 9.99987524e-01 -4.92816318e-03 -8.15622060e-04 3.10546559e+01] [ 4.92815073e-03 9.99987856e-01 -1.72742155e-05 7.38902587e-01] [ 8.15697286e-04 1.32544915e-05 9.99999667e-01 -9.16068084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.09, Y:0.73, Z:-0.92 [[ 9.99965685e-01 -8.28000455e-03 -2.63475547e-04 3.10852743e+01] [ 8.28000339e-03 9.99965720e-01 -5.49017189e-06 7.33849521e-01] [ 2.63511973e-04 3.30840508e-06 9.99999965e-01 -9.16622963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.12, Y:0.73, Z:-0.92 [[ 9.99950287e-01 -9.96574346e-03 -3.28293826e-04 3.11168666e+01] [ 9.96574193e-03 9.99950341e-01 -6.28031586e-06 7.32746966e-01] [ 3.28340111e-04 3.00831209e-06 9.99999946e-01 -9.16945449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.15, Y:0.73, Z:-0.92 [[ 9.99933919e-01 -1.14930521e-02 -2.59508943e-04 3.11476164e+01] [ 1.14930511e-02 9.99933953e-01 -5.12239434e-06 7.31767974e-01] [ 2.59550675e-04 2.13950630e-06 9.99999966e-01 -9.17699734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:0.73, Z:-0.92 [[ 9.99876778e-01 -1.56816983e-02 7.16271772e-04 3.11793525e+01] [ 1.56816913e-02 9.99877035e-01 1.54212287e-05 7.27840537e-01] [-7.16425526e-04 -4.18697567e-06 9.99999743e-01 -9.18068028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:31.21, Y:0.73, Z:-0.92 [[ 9.99850257e-01 -1.72730682e-02 1.05086671e-03 3.12102758e+01] [ 1.72730542e-02 9.99850809e-01 2.23688666e-05 7.27227996e-01] [-1.05109631e-03 -4.21383931e-06 9.99999448e-01 -9.17443011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:0.73, Z:-0.92 [[ 9.99816461e-01 -1.90625601e-02 1.91396619e-03 3.12418808e+01] [ 1.90625175e-02 9.99818293e-01 4.04902374e-05 7.26740776e-01] [-1.91439026e-03 -3.99779178e-06 9.99998168e-01 -9.18934721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.27, Y:0.72, Z:-0.92 [[ 9.99768130e-01 -2.14122318e-02 2.28082631e-03 3.12733496e+01] [ 2.14121780e-02 9.99770732e-01 4.79946014e-05 7.22647344e-01] [-2.28133106e-03 8.53986068e-07 9.99997398e-01 -9.19604643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.31, Y:0.72, Z:-0.92 [[ 9.99759863e-01 -2.18614645e-02 1.51449364e-03 3.13052611e+01] [ 2.18614406e-02 9.99761010e-01 3.23647254e-05 7.19427194e-01] [-1.51483924e-03 7.52059438e-07 9.99998853e-01 -9.20523853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:31.34, Y:0.72, Z:-0.92 [[ 9.99764725e-01 -2.16832977e-02 5.72949753e-04 3.13364012e+01] [ 2.16832940e-02 9.99764890e-01 1.26357534e-05 7.16026828e-01] [-5.73089031e-04 -2.09342619e-07 9.99999836e-01 -9.20342835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:0.71, Z:-0.92 [[ 9.99801739e-01 -1.98262724e-02 1.84432701e-03 3.13666391e+01] [ 1.98262344e-02 9.99803440e-01 3.88401369e-05 7.11869559e-01] [-1.84473455e-03 -2.26637670e-06 9.99998298e-01 -9.20222852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:0.71, Z:-0.92 [[ 9.99835136e-01 -1.80051159e-02 2.34885649e-03 3.13985544e+01] [ 1.80050497e-02 9.99837895e-01 4.93050195e-05 7.11828347e-01] [-2.34936348e-03 -7.00561294e-06 9.99997240e-01 -9.19972428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:0.71, Z:-0.92 [[ 9.99879670e-01 -1.53160582e-02 2.46252037e-03 3.14296357e+01] [ 1.53159784e-02 9.99882702e-01 5.12572976e-05 7.11037360e-01] [-2.46301658e-03 -1.35352209e-05 9.99996967e-01 -9.20986265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.46, Y:0.71, Z:-0.92 [[ 9.99925697e-01 -1.20308378e-02 1.96451080e-03 3.14613079e+01] [ 1.20307805e-02 9.99927627e-01 4.09778382e-05 7.09212158e-01] [-1.96486162e-03 -1.73401952e-05 9.99998070e-01 -9.22290009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.49, Y:0.71, Z:-0.92 [[ 9.99984264e-01 -5.52258559e-03 9.85854566e-04 3.14926100e+01] [ 5.52256765e-03 9.99984750e-01 2.09173722e-05 7.06953953e-01] [-9.85955050e-04 -1.54725945e-05 9.99999514e-01 -9.23378668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.52, Y:0.71, Z:-0.92 [[ 9.99996853e-01 -2.29618918e-03 1.01036184e-03 3.15241953e+01] [ 2.29616899e-03 9.99997364e-01 2.11405206e-05 7.07377211e-01] [-1.01040771e-03 -1.88204926e-05 9.99999489e-01 -9.24498743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:0.71, Z:-0.93 [[ 9.99999237e-01 6.63221394e-04 1.04224439e-03 3.15552290e+01] [-6.63244441e-04 9.99999780e-01 2.17673943e-05 7.08211343e-01] [-1.04222973e-03 -2.24586405e-05 9.99999457e-01 -9.25597151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:0.71, Z:-0.93 [[ 9.99988707e-01 4.72777114e-03 4.83322457e-04 3.15854207e+01] [-4.72777688e-03 9.99988824e-01 1.07274642e-05 7.10011484e-01] [-4.83266339e-04 -1.30123838e-05 9.99999883e-01 -9.26571887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:0.71, Z:-0.93 [[ 9.99988762e-01 4.71613642e-03 4.83346286e-04 3.16155703e+01] [-4.71614159e-03 9.99988879e-01 9.55429448e-06 7.10664352e-01] [-4.83295852e-04 -1.18337166e-05 9.99999883e-01 -9.27265770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.65, Y:0.71, Z:-0.93 [[ 9.99983407e-01 5.75953752e-03 1.14496438e-04 3.16459208e+01] [-5.75953782e-03 9.99983414e-01 2.32679952e-06 7.11704771e-01] [-1.14481137e-04 -2.98620747e-06 9.99999993e-01 -9.27893053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.68, Y:0.71, Z:-0.93 [[ 9.99979987e-01 6.32291933e-03 2.15905296e-04 3.16761358e+01] [-6.32292043e-03 9.99980010e-01 4.38763292e-06 7.12100032e-01] [-2.15873238e-04 -5.75269712e-06 9.99999977e-01 -9.28748080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.71, Y:0.71, Z:-0.93 [[ 9.99978921e-01 6.46105183e-03 6.42660061e-04 3.17058275e+01] [-6.46106174e-03 9.99979127e-01 1.33455446e-05 7.12372896e-01] [-6.42560421e-04 -1.74975296e-05 9.99999793e-01 -9.29407813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.74, Y:0.71, Z:-0.93 [[ 9.99988659e-01 4.72032612e-03 6.33040036e-04 3.17364056e+01] [-4.72033520e-03 9.99988859e-01 1.28565733e-05 7.13094672e-01] [-6.32972296e-04 -1.58445886e-05 9.99999800e-01 -9.29832698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:0.71, Z:-0.93 [[ 9.99993963e-01 3.46048357e-03 3.14226245e-04 3.17657431e+01] [-3.46048584e-03 9.99994012e-01 6.68683371e-06 7.14200821e-01] [-3.14201224e-04 -7.77416881e-06 9.99999951e-01 -9.30261350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.80, Y:0.72, Z:-0.93 [[ 9.99997596e-01 2.17268065e-03 2.96316101e-04 3.17951815e+01] [-2.17268244e-03 9.99997640e-01 5.74313103e-06 7.15337211e-01] [-2.96302924e-04 -6.38691802e-06 9.99999956e-01 -9.30896197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:0.72, Z:-0.93 [[ 9.99999574e-01 -5.45922884e-04 -7.43769970e-04 3.18259909e+01] [ 5.45911800e-04 9.99999851e-01 -1.51042846e-05 7.16926078e-01] [ 7.43778104e-04 1.46982454e-05 9.99999723e-01 -9.31803723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:0.72, Z:-0.93 [[ 9.99996989e-01 -2.14963091e-03 -1.18327640e-03 3.18561414e+01] [ 2.14960398e-03 9.99997689e-01 -2.40296653e-05 7.17974401e-01] [ 1.18332532e-03 2.14860173e-05 9.99999300e-01 -9.33355564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:31.89, Y:0.72, Z:-0.93 [[ 9.99992224e-01 -3.82356657e-03 -9.65458774e-04 3.18856816e+01] [ 3.82354915e-03 9.99992690e-01 -1.98958659e-05 7.18996704e-01] [ 9.65527790e-04 1.62042321e-05 9.99999534e-01 -9.33999343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:0.72, Z:-0.93 [[ 9.99973138e-01 -7.31878292e-03 3.97838773e-04 3.19156838e+01] [ 7.31878028e-03 9.99973217e-01 8.08401334e-06 7.20203088e-01] [-3.97887283e-04 -5.17210162e-06 9.99999921e-01 -9.34568029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:0.72, Z:-0.93 [[ 9.99959157e-01 -9.01665596e-03 6.20539488e-04 3.19467968e+01] [ 9.01664954e-03 9.99959349e-01 1.31437182e-05 7.20386963e-01] [-6.20632775e-04 -7.54799431e-06 9.99999807e-01 -9.34875222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:0.72, Z:-0.94 [[ 9.99940863e-01 -1.08650113e-02 4.72031543e-04 3.19783294e+01] [ 1.08650077e-02 9.99940974e-01 1.01212928e-05 7.21309662e-01] [-4.72113649e-04 -4.99206790e-06 9.99999889e-01 -9.35406489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:0.72, Z:-0.94 [[ 9.99906699e-01 -1.36446943e-02 -6.44680983e-04 3.20099009e+01] [ 1.36446891e-02 9.99906907e-01 -1.24996142e-05 7.24938511e-01] [ 6.44791521e-04 3.70197638e-06 9.99999792e-01 -9.36039852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.04, Y:0.72, Z:-0.94 [[ 9.99894293e-01 -1.45140683e-02 -8.63417531e-04 3.20402558e+01] [ 1.45140589e-02 9.99894665e-01 -1.71957888e-05 7.24633392e-01] [ 8.63576164e-04 4.66227818e-06 9.99999627e-01 -9.37546786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.07, Y:0.72, Z:-0.94 [[ 9.99882374e-01 -1.52338248e-02 -1.77990097e-03 3.20718161e+01] [ 1.52337858e-02 9.99883959e-01 -3.54349003e-05 7.23593027e-01] [ 1.78023424e-03 8.31610207e-06 9.99998415e-01 -9.38537909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:0.72, Z:-0.94 [[ 9.99878402e-01 -1.53083635e-02 -2.97237193e-03 3.21023916e+01] [ 1.53082525e-02 9.99882820e-01 -6.00784635e-05 7.22604305e-01] [ 2.97294333e-03 1.45693380e-05 9.99995581e-01 -9.39120115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:0.72, Z:-0.94 [[ 9.99893456e-01 -1.44437983e-02 -2.11023684e-03 3.21319936e+01] [ 1.44437398e-02 9.99895683e-01 -4.29455047e-05 7.24335872e-01] [ 2.11063701e-03 1.24612173e-05 9.99997773e-01 -9.39321073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.16, Y:0.73, Z:-0.94 [[ 9.99913237e-01 -1.31261665e-02 -1.10573437e-03 3.21622066e+01] [ 1.31261498e-02 9.99913848e-01 -2.23623266e-05 7.25673645e-01] [ 1.10593264e-03 7.84635140e-06 9.99999388e-01 -9.39230147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:0.73, Z:-0.94 [[ 9.99937952e-01 -1.11390387e-02 -1.14871871e-04 3.21931271e+01] [ 1.11390385e-02 9.99937959e-01 -2.32316401e-06 7.26345631e-01] [ 1.14890622e-04 1.04345767e-06 9.99999993e-01 -9.39943032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:0.73, Z:-0.94 [[ 9.99945701e-01 -1.04096519e-02 4.83047897e-04 3.22237483e+01] [ 1.04096483e-02 9.99945818e-01 1.00406923e-05 7.28609080e-01] [-4.83126245e-04 -5.01178839e-06 9.99999883e-01 -9.39924034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.26, Y:0.73, Z:-0.94 [[ 9.99947679e-01 -1.01987456e-02 7.90525762e-04 3.22555016e+01] [ 1.01987357e-02 9.99947991e-01 1.65022175e-05 7.31386474e-01] [-7.90652950e-04 -8.43899073e-06 9.99999687e-01 -9.40272084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.29, Y:0.73, Z:-0.94 [[ 9.99947557e-01 -1.02327257e-02 4.17443839e-04 3.22863637e+01] [ 1.02327228e-02 9.99947644e-01 8.95808131e-06 7.32633584e-01] [-4.17513650e-04 -4.68602442e-06 9.99999913e-01 -9.41178968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.32, Y:0.73, Z:-0.94 [[ 9.99932824e-01 -1.15845596e-02 -3.80172750e-04 3.23181637e+01] [ 1.15845577e-02 9.99932897e-01 -7.10759038e-06 7.29737628e-01] [ 3.80229578e-04 2.70297974e-06 9.99999928e-01 -9.43773305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:0.73, Z:-0.94 [[ 9.99920873e-01 -1.25788211e-02 -1.43879931e-04 3.23495577e+01] [ 1.25788209e-02 9.99920884e-01 -2.32874833e-06 7.28178233e-01] [ 1.43897841e-04 5.18724182e-07 9.99999990e-01 -9.44563796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:0.73, Z:-0.94 [[ 9.99903937e-01 -1.38569786e-02 3.16399969e-04 3.23796662e+01] [ 1.38569771e-02 9.99903987e-01 6.64107663e-06 7.27467666e-01] [-3.16461616e-04 -2.25609154e-06 9.99999950e-01 -9.44827767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:32.41, Y:0.73, Z:-0.94 [[ 9.99890803e-01 -1.47735117e-02 3.53762810e-04 3.24106462e+01] [ 1.47735099e-02 9.99890866e-01 7.65820899e-06 7.27825341e-01] [-3.53837341e-04 -2.43105436e-06 9.99999937e-01 -9.44027608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.44, Y:0.73, Z:-0.94 [[ 9.99857712e-01 -1.68466133e-02 8.64400029e-04 3.24415909e+01] [ 1.68466041e-02 9.99858086e-01 1.78932749e-05 7.28668095e-01] [-8.64578799e-04 -3.32852384e-06 9.99999626e-01 -9.44574626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.47, Y:0.73, Z:-0.95 [[ 9.99842540e-01 -1.76874797e-02 1.43129934e-03 3.24719145e+01] [ 1.76874555e-02 9.99843564e-01 2.95689366e-05 7.30141796e-01] [-1.43159844e-03 -4.24823713e-06 9.99998975e-01 -9.45360864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914203822000005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:32.50, Y:0.73, Z:-0.95 [[ 9.99839428e-01 -1.79090963e-02 6.18144732e-04 3.25036822e+01] [ 1.79090917e-02 9.99839619e-01 1.29145606e-05 7.31110736e-01] [-6.18276881e-04 -1.84207625e-06 9.99999809e-01 -9.45667664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.54, Y:0.73, Z:-0.95 [[ 9.99851876e-01 -1.72081815e-02 3.24125769e-04 3.25353645e+01] [ 1.72081802e-02 9.99851928e-01 7.02983562e-06 7.30458742e-01] [-3.24198746e-04 -1.45117970e-06 9.99999947e-01 -9.46670780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.57, Y:0.73, Z:-0.95 [[ 9.99862092e-01 -1.65934061e-02 6.74845672e-04 3.25669341e+01] [ 1.65934005e-02 9.99862320e-01 1.40150003e-05 7.29605515e-01] [-6.74985316e-04 -2.81508301e-06 9.99999772e-01 -9.47612050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.60, Y:0.73, Z:-0.95 [[ 9.99862601e-01 -1.65522314e-02 8.96170659e-04 3.25971031e+01] [ 1.65522217e-02 9.99863002e-01 1.81388652e-05 7.28298416e-01] [-8.96348125e-04 -3.30275743e-06 9.99999598e-01 -9.48856375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.63, Y:0.73, Z:-0.95 [[ 9.99857475e-01 -1.68749549e-02 -5.14391400e-04 3.26287221e+01] [ 1.68749522e-02 9.99857608e-01 -9.67281431e-06 7.26875028e-01] [ 5.14481383e-04 9.91105411e-07 9.99999868e-01 -9.49622084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.66, Y:0.73, Z:-0.95 [[ 9.99858483e-01 -1.67964928e-02 -9.44511467e-04 3.26589322e+01] [ 1.67964834e-02 9.99858929e-01 -1.78404617e-05 7.28908404e-01] [ 9.44677881e-04 1.97346579e-06 9.99999554e-01 -9.49787418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.69, Y:0.73, Z:-0.95 [[ 9.99869156e-01 -1.61567618e-02 -7.93283292e-04 3.26902869e+01] [ 1.61567549e-02 9.99869471e-01 -1.51749900e-05 7.31502215e-01] [ 7.93424925e-04 2.35612076e-06 9.99999685e-01 -9.50088985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:0.73, Z:-0.95 [[ 9.99912230e-01 -1.32107809e-02 -1.00402619e-03 3.27209888e+01] [ 1.32107675e-02 9.99912734e-01 -1.99215130e-05 7.31773135e-01] [ 1.00420175e-03 6.65580795e-06 9.99999496e-01 -9.51899386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:0.73, Z:-0.95 [[ 9.99941351e-01 -1.06589489e-02 -1.91855032e-03 3.27514428e+01] [ 1.06588961e-02 9.99943192e-01 -3.77628411e-05 7.30452899e-01] [ 1.91884384e-03 1.73109979e-05 9.99998159e-01 -9.52949925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:0.73, Z:-0.95 [[ 9.99965898e-01 -7.88022054e-03 -2.47099138e-03 3.27821182e+01] [ 7.88012351e-03 9.99968950e-01 -4.89983050e-05 7.30363667e-01] [ 2.47130077e-03 2.95249168e-05 9.99996946e-01 -9.53556624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:0.73, Z:-0.95 [[ 9.99996299e-01 -2.66003418e-03 -5.70915291e-04 3.28113818e+01] [ 2.66002783e-03 9.99996462e-01 -1.18837581e-05 7.34244571e-01] [ 5.70944883e-04 1.03650636e-05 9.99999837e-01 -9.53016525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:0.74, Z:-0.95 [[ 9.99999760e-01 -6.67041345e-04 -1.85082955e-04 3.28406377e+01] [ 6.67040625e-04 9.99999778e-01 -3.95048873e-06 7.36245585e-01] [ 1.85085548e-04 3.82702994e-06 9.99999983e-01 -9.53615020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.87, Y:0.74, Z:-0.95 [[ 9.99999704e-01 5.85540391e-04 -4.99505953e-04 3.28704524e+01] [-5.85545405e-04 9.99999829e-01 -9.89003206e-06 7.37407486e-01] [ 4.99500076e-04 1.01825125e-05 9.99999875e-01 -9.54553180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.90, Y:0.74, Z:-0.95 [[ 9.99997779e-01 2.04335869e-03 -5.16744644e-04 3.29008568e+01] [-2.04336426e-03 9.99997912e-01 -1.02645160e-05 7.42326423e-01] [ 5.16722591e-04 1.13203907e-05 9.99999866e-01 -9.54317722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.93, Y:0.75, Z:-0.95 [[ 9.99997600e-01 2.07657247e-03 6.97750901e-04 3.29305332e+01] [-2.07658246e-03 9.99997844e-01 1.35895783e-05 7.46970048e-01] [-6.97721176e-04 -1.50384830e-05 9.99999756e-01 -9.54754423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:32.96, Y:0.75, Z:-0.96 [[ 9.99997093e-01 1.62743809e-03 1.77917186e-03 3.29613964e+01] [-1.62750359e-03 9.99998675e-01 3.53627032e-05 7.50048145e-01] [-1.77911195e-03 -3.82582090e-05 9.99998417e-01 -9.55169615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:0.75, Z:-0.96 [[ 9.99990763e-01 -2.24933819e-03 3.66256797e-03 3.29920434e+01] [ 2.24908580e-03 9.99997468e-01 7.30298962e-05 7.49372060e-01] [-3.66272296e-03 -6.47917920e-05 9.99993290e-01 -9.56576646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:0.75, Z:-0.96 [[ 9.99981341e-01 -4.41255737e-03 4.22462906e-03 3.30246317e+01] [ 4.41222899e-03 9.99990262e-01 8.70446943e-05 7.48728669e-01] [-4.22497202e-03 -6.84030392e-05 9.99991072e-01 -9.56995734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.06, Y:0.75, Z:-0.96 [[ 9.99966672e-01 -6.72896233e-03 4.62342298e-03 3.30575235e+01] [ 6.72860689e-03 9.99977358e-01 9.24288399e-05 7.49364126e-01] [-4.62394025e-03 -6.13165637e-05 9.99989308e-01 -9.57211780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.09, Y:0.75, Z:-0.96 [[ 9.99941143e-01 -9.45666948e-03 5.31805408e-03 3.30891262e+01] [ 9.45623673e-03 9.99955283e-01 1.06514426e-04 7.51195336e-01] [-5.31882355e-03 -5.62193788e-05 9.99985853e-01 -9.58031637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.12, Y:0.75, Z:-0.96 [[ 9.99902465e-01 -1.27605136e-02 5.67711337e-03 3.31210684e+01] [ 1.27600860e-02 9.99918581e-01 1.11533946e-04 7.52898367e-01] [-5.67807437e-03 -3.90826122e-05 9.99983879e-01 -9.58438039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.15, Y:0.75, Z:-0.96 [[ 9.99803068e-01 -1.92684319e-02 4.74887537e-03 3.31534782e+01] [ 1.92682002e-02 9.99814347e-01 9.45473170e-05 7.53203542e-01] [-4.74981550e-03 -3.02641628e-06 9.99988720e-01 -9.58131076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.18, Y:0.75, Z:-0.96 [[ 9.99745749e-01 -2.21266818e-02 4.34135363e-03 3.31849773e+01] [ 2.21265231e-02 9.99755175e-01 8.45953464e-05 7.52021697e-01] [-4.34216257e-03 1.14852235e-05 9.99990573e-01 -9.59023888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:33.22, Y:0.75, Z:-0.96 [[ 9.99652525e-01 -2.60360888e-02 4.11711872e-03 3.32158519e+01] [ 2.60359796e-02 9.99661003e-01 8.01208424e-05 7.46905771e-01] [-4.11780906e-03 2.71002164e-05 9.99991521e-01 -9.59627388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.25, Y:0.74, Z:-0.96 [[ 9.99638168e-01 -2.66530284e-02 3.62616978e-03 3.32483172e+01] [ 2.66529471e-02 9.99644745e-01 7.07550783e-05 7.43925927e-01] [-3.62676740e-03 2.59186345e-05 9.99993423e-01 -9.60813064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:33.28, Y:0.74, Z:-0.96 [[ 9.99661305e-01 -2.58889996e-02 2.65217930e-03 3.32808503e+01] [ 2.58889530e-02 9.99664824e-01 5.19162816e-05 7.42573649e-01] [-2.65263441e-03 1.67634475e-05 9.99996482e-01 -9.61024691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:33.31, Y:0.74, Z:-0.96 [[ 9.99697735e-01 -2.45056330e-02 1.97785411e-03 3.33131728e+01] [ 2.45056040e-02 9.99699692e-01 3.89216455e-05 7.41973817e-01] [-1.97821395e-03 9.55862874e-06 9.99998043e-01 -9.61557249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382200001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:33.34, Y:0.74, Z:-0.96 [[ 9.99808250e-01 -1.95746906e-02 5.43550665e-04 3.33439132e+01] [ 1.95746875e-02 9.99808397e-01 1.11959836e-05 7.40422815e-01] [-5.43665677e-04 -5.54002350e-07 9.99999852e-01 -9.62949498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:0.74, Z:-0.96 [[ 9.99865254e-01 -1.64138676e-02 -2.42627588e-04 3.33743528e+01] [ 1.64138670e-02 9.99865283e-01 -4.36029003e-06 7.39540940e-01] [ 2.42666471e-04 3.77245525e-07 9.99999971e-01 -9.64300112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:33.40, Y:0.74, Z:-0.96 [[ 9.99957037e-01 -9.25148741e-03 -5.78717187e-04 3.34046271e+01] [ 9.25148257e-03 9.99957204e-01 -1.10405458e-05 7.38599316e-01] [ 5.78794562e-04 5.68607950e-06 9.99999832e-01 -9.64096577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.44, Y:0.74, Z:-0.96 [[ 9.99980505e-01 -6.24306863e-03 1.17144669e-04 3.34353744e+01] [ 6.24306838e-03 9.99980512e-01 2.51553070e-06 7.37454143e-01] [-1.17158090e-04 -1.78413948e-06 9.99999993e-01 -9.64837873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.47, Y:0.73, Z:-0.97 [[ 9.99992626e-01 -3.83183821e-03 2.54711867e-04 3.34670646e+01] [ 3.83183696e-03 9.99992658e-01 5.40015982e-06 7.34998539e-01] [-2.54730689e-04 -4.42410566e-06 9.99999968e-01 -9.66452240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:0.73, Z:-0.97 [[ 9.99998268e-01 1.06382826e-05 -1.86121954e-03 3.34980238e+01] [-1.07042632e-05 9.99999999e-01 -3.54402796e-05 7.34395427e-01] [ 1.86121917e-03 3.54601412e-05 9.99998267e-01 -9.67739926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:0.74, Z:-0.97 [[ 9.99996801e-01 1.68799744e-03 -1.88389078e-03 3.35275032e+01] [-1.68806916e-03 9.99998575e-01 -3.64853773e-05 7.37180987e-01] [ 1.88382651e-03 3.96653985e-05 9.99998225e-01 -9.68491867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:0.74, Z:-0.97 [[ 9.99994084e-01 3.28292893e-03 -1.02698983e-03 3.35559949e+01] [-3.28295168e-03 9.99994611e-01 -2.04657682e-05 7.39418779e-01] [ 1.02691711e-03 2.38372051e-05 9.99999472e-01 -9.69342778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:0.74, Z:-0.97 [[ 9.99994204e-01 3.24599963e-03 -1.02698905e-03 3.35861407e+01] [-3.24602240e-03 9.99994731e-01 -2.05059457e-05 7.40048375e-01] [ 1.02691708e-03 2.38394563e-05 9.99999472e-01 -9.70036712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.62, Y:0.74, Z:-0.97 [[ 9.99989854e-01 4.49814544e-03 -2.40429736e-04 3.36160075e+01] [-4.49814680e-03 9.99989883e-01 -5.14842305e-06 7.40796837e-01] [ 2.40404145e-04 6.22985907e-06 9.99999971e-01 -9.70964482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.65, Y:0.74, Z:-0.97 [[ 9.99982380e-01 5.79109035e-03 -1.30487835e-03 3.36461464e+01] [-5.79112868e-03 9.99983231e-01 -2.56001802e-05 7.38892887e-01] [ 1.30470821e-03 3.31564475e-05 9.99999148e-01 -9.72336542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:0.74, Z:-0.97 [[ 9.99982118e-01 5.70138660e-03 -1.80483202e-03 3.36743537e+01] [-5.70146002e-03 9.99983746e-01 -3.55344250e-05 7.39529782e-01] [ 1.80460009e-03 4.58239672e-05 9.99998371e-01 -9.73450554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.70, Y:0.74, Z:-0.97 [[ 9.99986298e-01 5.03691731e-03 -1.42583554e-03 3.37028183e+01] [-5.03696317e-03 9.99987314e-01 -2.85744197e-05 7.40448047e-01] [ 1.42567352e-03 3.57559093e-05 9.99998983e-01 -9.73925578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.73, Y:0.74, Z:-0.97 [[ 9.99997758e-01 2.06930648e-03 4.50411930e-04 3.37312690e+01] [-2.06931034e-03 9.99997859e-01 8.11013235e-06 7.39761992e-01] [-4.50394183e-04 -9.04215622e-06 9.99999899e-01 -9.73810500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.76, Y:0.74, Z:-0.97 [[ 9.99998775e-01 -1.08181617e-04 1.56131816e-03 3.37616587e+01] [ 1.08134707e-04 9.99999994e-01 3.01291226e-05 7.38806334e-01] [-1.56132141e-03 -2.99602530e-05 9.99998781e-01 -9.73931999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.79, Y:0.74, Z:-0.97 [[ 9.99994048e-01 -2.43405443e-03 2.44534620e-03 3.37918903e+01] [ 2.43394571e-03 9.99997037e-01 4.74361504e-05 7.38327291e-01] [-2.44545442e-03 -4.14840281e-05 9.99997009e-01 -9.73928740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:33.82, Y:0.74, Z:-0.97 [[ 9.99966511e-01 -7.77990898e-03 2.53963422e-03 3.38243203e+01] [ 7.77980078e-03 9.99969736e-01 5.24799005e-05 7.38929501e-01] [-2.53996564e-03 -3.27202947e-05 9.99996774e-01 -9.73866998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:0.74, Z:-0.97 [[ 9.99933567e-01 -1.11794347e-02 2.80749420e-03 3.38568165e+01] [ 1.11793253e-02 9.99937508e-01 5.46478402e-05 7.38850902e-01] [-2.80792968e-03 -2.32583189e-05 9.99996057e-01 -9.74939472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264203822000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.89, Y:0.74, Z:-0.98 [[ 9.99892555e-01 -1.42650409e-02 3.37441954e-03 3.38879965e+01] [ 1.42649001e-02 9.99898249e-01 6.58132970e-05 7.37838676e-01] [-3.37501502e-03 -1.76704682e-05 9.99994304e-01 -9.75218254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.92, Y:0.74, Z:-0.98 [[ 9.99844932e-01 -1.70673206e-02 4.33809195e-03 3.39201412e+01] [ 1.70671200e-02 9.99854343e-01 8.32656025e-05 7.35166863e-01] [-4.33888120e-03 -9.21395473e-06 9.99990587e-01 -9.76342523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.95, Y:0.73, Z:-0.98 [[ 9.99755574e-01 -2.17092437e-02 4.18347102e-03 3.39526753e+01] [ 2.17090984e-02 9.99764327e-01 8.01498306e-05 7.28532118e-01] [-4.18422508e-03 1.06891441e-05 9.99991246e-01 -9.77167465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:0.73, Z:-0.98 [[ 9.99723593e-01 -2.32652159e-02 3.38625220e-03 3.39837236e+01] [ 2.32651303e-02 9.99729328e-01 6.46866291e-05 7.27458533e-01] [-3.38684058e-03 1.41128491e-05 9.99994265e-01 -9.77871562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:0.73, Z:-0.98 [[ 9.99704399e-01 -2.41331946e-02 2.95002955e-03 3.40156246e+01] [ 2.41331327e-02 9.99708752e-01 5.66078058e-05 7.27270391e-01] [-2.95053649e-03 1.46023821e-05 9.99995647e-01 -9.78596643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.05, Y:0.73, Z:-0.98 [[ 9.99691992e-01 -2.44693379e-02 4.14394676e-03 3.40467728e+01] [ 2.44692190e-02 9.99700581e-01 7.93980909e-05 7.25653355e-01] [-4.14464880e-03 2.20255049e-05 9.99991411e-01 -9.79561463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.08, Y:0.72, Z:-0.98 [[ 9.99708596e-01 -2.38600111e-02 3.66371940e-03 3.40787986e+01] [ 2.38599164e-02 9.99715309e-01 6.95626167e-05 7.24926247e-01] [-3.66433613e-03 1.78736925e-05 9.99993286e-01 -9.80045645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.11, Y:0.72, Z:-0.98 [[ 9.99735071e-01 -2.28408847e-02 2.84273974e-03 3.41102836e+01] [ 2.28408240e-02 9.99739113e-01 5.38412182e-05 7.23933289e-01] [-2.84322789e-03 1.11035639e-05 9.99995958e-01 -9.81094526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.14, Y:0.72, Z:-0.98 [[ 9.99807909e-01 -1.95823680e-02 8.22371536e-04 3.41418266e+01] [ 1.95823616e-02 9.99808247e-01 1.58663997e-05 7.20241697e-01] [-8.22524545e-04 2.40624827e-07 9.99999662e-01 -9.82727508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:34.17, Y:0.72, Z:-0.98 [[ 9.99854744e-01 -1.70430722e-02 1.56723870e-04 3.41726458e+01] [ 1.70430719e-02 9.99854756e-01 2.91884827e-06 7.20084419e-01] [-1.56750853e-04 -2.47368090e-07 9.99999988e-01 -9.82385914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:0.72, Z:-0.98 [[ 9.99897738e-01 -1.42820219e-02 7.33621745e-04 3.42016948e+01] [ 1.42820159e-02 9.99898007e-01 1.33913661e-05 7.20960384e-01] [-7.33738177e-04 -2.91239923e-06 9.99999731e-01 -9.82950862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:0.72, Z:-0.98 [[ 9.99961666e-01 -8.66303212e-03 1.27247195e-03 3.42317193e+01] [ 8.66300863e-03 9.99962475e-01 2.39740155e-05 7.23289298e-01] [-1.27263188e-03 -1.29496610e-05 9.99999190e-01 -9.83627936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:0.72, Z:-0.98 [[ 9.99982861e-01 -5.82981462e-03 5.39266243e-04 3.42631740e+01] [ 5.82980961e-03 9.99983006e-01 1.08674773e-05 7.24079076e-01] [-5.39320435e-04 -7.72347155e-06 9.99999855e-01 -9.84591169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65420382200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.29, Y:0.73, Z:-0.98 [[ 9.99999841e-01 -3.08661006e-04 -4.71552903e-04 3.42935130e+01] [ 3.08657043e-04 9.99999952e-01 -8.47788336e-06 7.25580621e-01] [ 4.71555498e-04 8.33233389e-06 9.99999889e-01 -9.84615392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.32, Y:0.73, Z:-0.99 [[ 9.99998369e-01 1.76347563e-03 -3.91123111e-04 3.43225592e+01] [-1.76347872e-03 9.99998445e-01 -7.54897592e-06 7.26952817e-01] [ 3.91109191e-04 8.23870089e-06 9.99999923e-01 -9.86082660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.35, Y:0.73, Z:-0.99 [[ 9.99994140e-01 3.42194627e-03 -9.69625019e-05 3.43518929e+01] [-3.42194649e-03 9.99994145e-01 -2.07501355e-06 7.28503287e-01] [ 9.69548335e-05 2.40680188e-06 9.99999995e-01 -9.86424165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:0.73, Z:-0.99 [[ 9.99990316e-01 4.37133189e-03 5.09823837e-04 3.43826638e+01] [-4.37133729e-03 9.99990446e-01 9.48241876e-06 7.31396905e-01] [-5.09777515e-04 -1.17109389e-05 9.99999870e-01 -9.86855410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:0.74, Z:-0.99 [[ 9.99985397e-01 5.37385046e-03 5.72805243e-04 3.44131421e+01] [-5.37385759e-03 9.99985561e-01 1.09218282e-05 7.37409589e-01] [-5.72738280e-04 -1.39998425e-05 9.99999836e-01 -9.87599305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:0.74, Z:-0.99 [[ 9.99985869e-01 5.18836673e-03 1.15898849e-03 3.44424253e+01] [-5.18839550e-03 9.99986540e-01 2.18153087e-05 7.39959195e-01] [-1.15885970e-03 -2.78282910e-05 9.99999328e-01 -9.88790739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.47, Y:0.74, Z:-0.99 [[ 9.99986641e-01 4.62025834e-03 2.31736701e-03 3.44732457e+01] [-4.62037050e-03 9.99989325e-01 4.30450104e-05 7.42060937e-01] [-2.31714339e-03 -5.37515295e-05 9.99997314e-01 -9.89791289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:0.74, Z:-0.99 [[ 9.99986352e-01 4.04151519e-03 3.31085159e-03 3.45042212e+01] [-4.04175138e-03 9.99991830e-01 6.46480177e-05 7.43716353e-01] [-3.31056326e-03 -7.80287744e-05 9.99994517e-01 -9.89914389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:0.75, Z:-0.99 [[ 9.99993154e-01 1.94887607e-03 3.14546500e-03 3.45354283e+01] [-1.94907778e-03 9.99998099e-01 6.10609378e-05 7.45839148e-01] [-3.14534002e-03 -6.71912757e-05 9.99995051e-01 -9.91284462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:0.75, Z:-0.99 [[ 9.99997108e-01 3.00403108e-04 2.38598672e-03 3.45674755e+01] [-3.00516083e-04 9.99999954e-01 4.69909752e-05 7.47194613e-01] [-2.38597249e-03 -4.77078667e-05 9.99997152e-01 -9.91882924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954203822000004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:34.60, Y:0.75, Z:-0.99 [[ 9.99996815e-01 -1.60882480e-03 1.94457576e-03 3.45990625e+01] [ 1.60875313e-03 9.99998705e-01 3.84201336e-05 7.49067951e-01] [-1.94463505e-03 -3.52916689e-05 9.99998109e-01 -9.91708320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:0.75, Z:-0.99 [[ 9.99983550e-01 -5.38910869e-03 1.96388020e-03 3.46304796e+01] [ 5.38904893e-03 9.99985478e-01 3.57191028e-05 7.52925945e-01] [-1.96404418e-03 -2.51350688e-05 9.99998071e-01 -9.93871104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.66, Y:0.75, Z:-0.99 [[ 9.99978093e-01 -6.46844851e-03 1.40483432e-03 3.46629384e+01] [ 6.46841811e-03 9.99979079e-01 2.61812589e-05 7.54140752e-01] [-1.40497428e-03 -1.70936296e-05 9.99999013e-01 -9.94967565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:0.76, Z:-1.00 [[ 9.99973358e-01 -7.19930264e-03 1.20589493e-03 3.46946404e+01] [ 7.19928127e-03 9.99974085e-01 2.20617190e-05 7.55284485e-01] [-1.20602251e-03 -1.33795544e-05 9.99999273e-01 -9.95704686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:0.76, Z:-1.00 [[ 9.99972550e-01 -7.25613500e-03 1.49897669e-03 3.47254391e+01] [ 7.25610191e-03 9.99973674e-01 2.75103304e-05 7.56444751e-01] [-1.49913685e-03 -1.66328476e-05 9.99998876e-01 -9.96430714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:0.76, Z:-1.00 [[ 9.99977803e-01 -6.65349999e-03 3.53878869e-04 3.47566553e+01] [ 6.65349799e-03 9.99977865e-01 6.85238894e-06 7.58906539e-01] [-3.53916628e-04 -4.49770450e-06 9.99999937e-01 -9.97931335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.79, Y:0.76, Z:-1.00 [[ 9.99980876e-01 -6.18368938e-03 9.79887911e-05 3.47865155e+01] [ 6.18368921e-03 9.99980881e-01 2.01916345e-06 7.61436361e-01] [-9.79994035e-05 -1.41319260e-06 9.99999995e-01 -9.98207041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:0.76, Z:-1.00 [[ 9.99981535e-01 -5.99145323e-03 1.01613622e-03 3.48180989e+01] [ 5.99143742e-03 9.99982051e-01 1.85989450e-05 7.64598545e-01] [-1.01622941e-03 -1.25104850e-05 9.99999484e-01 -9.99396208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:0.77, Z:-1.00 [[ 9.99986666e-01 -4.89895258e-03 1.63325472e-03 3.48491221e+01] [ 4.89891049e-03 9.99988000e-01 2.97696474e-05 7.70522541e-01] [-1.63338096e-03 -2.17680818e-05 9.99998666e-01 -9.99004103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382200001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.88, Y:0.77, Z:-1.00 [[ 9.99991589e-01 -3.98270015e-03 9.79449028e-04 3.48802238e+01] [ 3.98268455e-03 9.99992069e-01 1.78742472e-05 7.71858495e-01] [-9.79512448e-04 -1.39732604e-05 9.99999520e-01 -9.99013352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:0.77, Z:-1.00 [[ 9.99993012e-01 -3.61119840e-03 9.67102941e-04 3.49103050e+01] [ 3.61118329e-03 9.99993480e-01 1.73676491e-05 7.72464790e-01] [-9.67159353e-04 -1.38751418e-05 9.99999532e-01 -1.00086039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:0.77, Z:-1.00 [[ 9.99993500e-01 -3.07043233e-03 1.88984452e-03 3.49417505e+01] [ 3.07037376e-03 9.99995286e-01 3.38929585e-05 7.72922449e-01] [-1.88993968e-03 -2.80902092e-05 9.99998214e-01 -1.00248046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.97, Y:0.78, Z:-1.00 [[ 9.99993518e-01 -2.99958618e-03 1.99184358e-03 3.49728130e+01] [ 2.99952108e-03 9.99995501e-01 3.56711839e-05 7.75825843e-01] [-1.99194161e-03 -2.96963759e-05 9.99998016e-01 -1.00276850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.00, Y:0.78, Z:-1.00 [[ 9.99995401e-01 -2.26849729e-03 2.01292087e-03 3.50038561e+01] [ 2.26842892e-03 9.99997426e-01 3.62490621e-05 7.82170439e-01] [-2.01299792e-03 -3.16827275e-05 9.99997973e-01 -1.00351050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374203822000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.03, Y:0.78, Z:-1.00 [[ 9.99996232e-01 -1.85270321e-03 2.02585703e-03 3.50347343e+01] [ 1.85263380e-03 9.99998283e-01 3.61410373e-05 7.84619127e-01] [-2.02592051e-03 -3.23877299e-05 9.99997947e-01 -1.00435884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.07, Y:0.79, Z:-1.01 [[ 9.99998169e-01 -1.33377754e-03 1.37206982e-03 3.50663197e+01] [ 1.33374331e-03 9.99999110e-01 2.58632520e-05 7.86320127e-01] [-1.37210309e-03 -2.40332157e-05 9.99999058e-01 -1.00558554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.10, Y:0.79, Z:-1.01 [[ 9.99999572e-01 -8.09045781e-04 4.47746330e-04 3.50964157e+01] [ 8.09042236e-04 9.99999673e-01 8.09739909e-06 7.87925507e-01] [-4.47752735e-04 -7.73514993e-06 9.99999900e-01 -1.00634950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203822 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:35.13, Y:0.79, Z:-1.01 [[ 9.99999912e-01 -4.05518605e-05 -4.17246498e-04 3.51268688e+01] [ 4.05488226e-05 9.99999999e-01 -7.28932611e-06 7.92269540e-01] [ 4.17246793e-04 7.27240662e-06 9.99999913e-01 -1.00602521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.16, Y:0.79, Z:-1.01 [[ 9.99999853e-01 -2.52145776e-04 4.80891536e-04 3.51562186e+01] [ 2.52141895e-04 9.99999968e-01 8.13003550e-06 7.93970722e-01] [-4.80893571e-04 -8.00878139e-06 9.99999884e-01 -1.00848525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:35.19, Y:0.80, Z:-1.01 [[ 9.99999312e-01 -4.75759619e-04 1.07256682e-03 3.51871323e+01] [ 4.75739781e-04 9.99999887e-01 1.87507367e-05 7.95027086e-01] [-1.07257562e-03 -1.82404611e-05 9.99999425e-01 -1.00936376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554203822000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.22, Y:0.80, Z:-1.01 [[ 9.99998965e-01 -8.36615634e-04 1.17021366e-03 3.52182933e+01] [ 8.36591630e-04 9.99999650e-01 2.10022704e-05 7.96568565e-01] [-1.17023082e-03 -2.00232578e-05 9.99999315e-01 -1.01018621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584203822000006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.25, Y:0.80, Z:-1.01 [[ 9.99997229e-01 -2.01437014e-03 1.21805083e-03 3.52484158e+01] [ 2.01434418e-03 9.99997971e-01 2.25404826e-05 8.01347770e-01] [-1.21809376e-03 -2.00868466e-05 9.99999258e-01 -1.01033176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61420382200001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:35.28, Y:0.80, Z:-1.01 [[ 9.99993960e-01 -3.01729077e-03 1.72526050e-03 3.52789886e+01] [ 3.01724304e-03 9.99995448e-01 3.02648443e-05 8.03593988e-01] [-1.72534397e-03 -2.50591313e-05 9.99998511e-01 -1.01104550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:35.31, Y:0.81, Z:-1.01 [[ 9.99989966e-01 -4.31388371e-03 1.20787481e-03 3.53103481e+01] [ 4.31386087e-03 9.99990695e-01 2.15119732e-05 8.05441297e-01] [-1.20795637e-03 -1.63011534e-05 9.99999270e-01 -1.01186921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674203822 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:35.34, Y:0.81, Z:-1.01 [[ 9.99976313e-01 -6.88226113e-03 -8.52352126e-05 3.53419550e+01] [ 6.88226108e-03 9.99976317e-01 -9.24326386e-07 8.08215406e-01] [ 8.52395554e-05 3.37693505e-07 9.99999996e-01 -1.01212043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.37, Y:0.81, Z:-1.01 [[ 9.99966744e-01 -8.02557198e-03 1.44926874e-03 3.53724746e+01] [ 8.02554272e-03 9.99967794e-01 2.60005647e-05 8.08491496e-01] [-1.44943074e-03 -1.43685318e-05 9.99998949e-01 -1.01354840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734203822000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.41, Y:0.81, Z:-1.01 [[ 9.99953930e-01 -9.17886034e-03 2.80824628e-03 3.54050472e+01] [ 9.17875745e-03 9.99957873e-01 4.95238099e-05 8.07952894e-01] [-2.80858255e-03 -2.37453169e-05 9.99996056e-01 -1.01418385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764203822000006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:35.44, Y:0.81, Z:-1.01 [[ 9.99917714e-01 -1.22283674e-02 3.87721880e-03 3.54368484e+01] [ 1.22281965e-02 9.99925231e-01 6.77913876e-05 8.07618411e-01] [-3.87775788e-03 -2.03744160e-05 9.99992481e-01 -1.01388373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79420382200001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.47, Y:0.81, Z:-1.01 [[ 9.99894084e-01 -1.40657397e-02 3.73835920e-03 3.54690603e+01] [ 1.40655940e-02 9.99901073e-01 6.52617178e-05 8.09023332e-01] [-3.73890733e-03 -1.26725627e-05 9.99993010e-01 -1.01439086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:35.50, Y:0.81, Z:-1.01 [[ 9.99870722e-01 -1.56555658e-02 3.66635796e-03 3.55001231e+01] [ 1.56554378e-02 9.99877444e-01 6.36077207e-05 8.10717016e-01] [-3.66690444e-03 -6.20105873e-06 9.99993277e-01 -1.01496734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:35.53, Y:0.81, Z:-1.02 [[ 9.99871617e-01 -1.55983103e-02 3.66635344e-03 3.55327898e+01] [ 1.55981810e-02 9.99878339e-01 6.38737753e-05 8.11180204e-01] [-3.66690371e-03 -6.67713045e-06 9.99993277e-01 -1.01571903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203822 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.57, Y:0.81, Z:-1.02 [[ 9.99830016e-01 -1.79776900e-02 4.09155984e-03 3.55652186e+01] [ 1.79775513e-02 9.99838388e-01 7.06869890e-05 8.10019932e-01] [-4.09216938e-03 2.88125328e-06 9.99991627e-01 -1.01626638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914203822000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:35.60, Y:0.81, Z:-1.02 [[ 9.99817720e-01 -1.84609184e-02 4.87040362e-03 3.55969859e+01] [ 1.84607294e-02 9.99829583e-01 8.37545493e-05 8.08762945e-01] [-4.87111981e-03 6.17192096e-06 9.99988136e-01 -1.01622945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944203822000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.63, Y:0.81, Z:-1.02 [[ 9.99809952e-01 -1.86536496e-02 5.66570890e-03 3.56295555e+01] [ 1.86533996e-02 9.99826006e-01 9.69769164e-05 8.08819392e-01] [-5.66653207e-03 8.72624573e-06 9.99983945e-01 -1.01687266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97420382200001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:35.66, Y:0.81, Z:-1.02 [[ 9.99821598e-01 -1.80556449e-02 5.54672804e-03 3.56612028e+01] [ 1.80553986e-02 9.99836984e-01 9.44782226e-05 8.09403468e-01] [-5.54752970e-03 5.68701810e-06 9.99984612e-01 -1.01784198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.69, Y:0.81, Z:-1.02 [[ 9.99830116e-01 -1.77553995e-02 4.94820436e-03 3.56927682e+01] [ 1.77552004e-02 9.99842360e-01 8.41851139e-05 8.08967452e-01] [-4.94891907e-03 3.68554761e-06 9.99987754e-01 -1.01944079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:35.72, Y:0.81, Z:-1.02 [[ 9.99846987e-01 -1.69782474e-02 4.21202824e-03 3.57246210e+01] [ 1.69780954e-02 9.99855859e-01 7.18486849e-05 8.08988989e-01] [-4.21264098e-03 -3.25473843e-07 9.99991127e-01 -1.02044482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.76, Y:0.81, Z:-1.02 [[ 9.99863103e-01 -1.61519465e-02 3.59028148e-03 3.57554011e+01] [ 1.61518308e-02 9.99869549e-01 6.12284224e-05 8.07542720e-01] [-3.59080208e-03 -3.23042138e-06 9.99993553e-01 -1.02217972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094203822000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.79, Y:0.81, Z:-1.02 [[ 9.99868684e-01 -1.59332220e-02 2.95752629e-03 3.57871649e+01] [ 1.59331423e-02 9.99873058e-01 5.05280968e-05 8.05888913e-01] [-2.95795593e-03 -3.39877459e-06 9.99995625e-01 -1.02335347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:35.82, Y:0.80, Z:-1.02 [[ 9.99873929e-01 -1.56865996e-02 2.46100223e-03 3.58180554e+01] [ 1.56865418e-02 9.99876958e-01 4.27796198e-05 8.04483191e-01] [-2.46137049e-03 -4.16961228e-06 9.99996971e-01 -1.02398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15420382200001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.85, Y:0.80, Z:-1.02 [[ 9.99874631e-01 -1.56509706e-02 2.40194231e-03 3.58502807e+01] [ 1.56509175e-02 9.99877516e-01 4.09044487e-05 8.04374819e-01] [-2.40228831e-03 -3.30671968e-06 9.99997114e-01 -1.02370660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.88, Y:0.81, Z:-1.02 [[ 9.99870930e-01 -1.59014081e-02 2.29517270e-03 3.58819369e+01] [ 1.59013604e-02 9.99873565e-01 3.90520406e-05 8.06885596e-01] [-2.29550349e-03 -2.55063187e-06 9.99997365e-01 -1.02363921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:35.91, Y:0.81, Z:-1.02 [[ 9.99870330e-01 -1.59617860e-02 2.13159981e-03 3.59131110e+01] [ 1.59617436e-02 9.99872603e-01 3.69235661e-05 8.07614647e-01] [-2.13191761e-03 -2.89472873e-06 9.99997727e-01 -1.02493177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203822 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:35.95, Y:0.80, Z:-1.03 [[ 9.99862596e-01 -1.65283395e-02 1.26589787e-03 3.59456598e+01] [ 1.65283251e-02 9.99863398e-01 2.18839864e-05 8.02797771e-01] [-1.26608665e-03 -9.57807972e-07 9.99999199e-01 -1.02673510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274203822000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:35.98, Y:0.80, Z:-1.03 [[ 9.99858517e-01 -1.67299300e-02 1.74806677e-03 3.59775298e+01] [ 1.67299046e-02 9.99860045e-01 2.91800556e-05 7.99169742e-01] [-1.74831030e-03 6.90631722e-08 9.99998472e-01 -1.02673107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822000005 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:36.01, Y:0.80, Z:-1.03 [[ 9.99857643e-01 -1.65741568e-02 3.16088603e-03 3.60087558e+01] [ 1.65740709e-02 9.99862639e-01 5.33802263e-05 7.96995861e-01] [-3.16133658e-03 -9.83878279e-07 9.99995003e-01 -1.02709061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334203822000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.04, Y:0.80, Z:-1.03 [[ 9.99857243e-01 -1.63791030e-02 4.14960290e-03 3.60404925e+01] [ 1.63789598e-02 9.99865853e-01 6.84914941e-05 7.96400247e-01] [-4.15016807e-03 -5.15537581e-07 9.99991388e-01 -1.02740532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382200001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.07, Y:0.80, Z:-1.03 [[ 9.99865843e-01 -1.58643737e-02 4.07655469e-03 3.60714666e+01] [ 1.58642329e-02 9.99874153e-01 6.68766128e-05 7.95659124e-01] [-4.07710262e-03 -2.19622802e-06 9.99991689e-01 -1.02799719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.10, Y:0.79, Z:-1.03 [[ 9.99892698e-01 -1.38724546e-02 4.70601709e-03 3.61036728e+01] [ 1.38722452e-02 9.99903773e-01 7.71362376e-05 7.92000011e-01] [-4.70663431e-03 -1.18449379e-05 9.99988924e-01 -1.02793367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.14, Y:0.79, Z:-1.03 [[ 9.99912236e-01 -1.21668278e-02 5.24291109e-03 3.61359859e+01] [ 1.21665464e-02 9.99925981e-01 8.55621143e-05 7.91058883e-01] [-5.24356404e-03 -2.17664839e-05 9.99986252e-01 -1.02846640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454203822000004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:36.17, Y:0.79, Z:-1.03 [[ 9.99939400e-01 -9.93876514e-03 4.73460175e-03 3.61667064e+01] [ 9.93851235e-03 9.99950609e-01 7.69186641e-05 7.90219425e-01] [-4.73513238e-03 -2.98591049e-05 9.99988789e-01 -1.02928792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:36.20, Y:0.79, Z:-1.03 [[ 9.99981935e-01 -5.03913756e-03 3.27680048e-03 3.61986671e+01] [ 5.03898900e-03 9.99987303e-01 5.35908903e-05 7.86926540e-01] [-3.27702892e-03 -3.70781606e-05 9.99994630e-01 -1.03045403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514203822000006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.23, Y:0.79, Z:-1.03 [[ 9.99991292e-01 -2.03932490e-03 3.64115528e-03 3.62303393e+01] [ 2.03912076e-03 9.99997919e-01 5.97768355e-05 7.86273198e-01] [-3.64126961e-03 -5.23515596e-05 9.99993369e-01 -1.03128355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.26, Y:0.79, Z:-1.03 [[ 9.99991729e-01 1.19494756e-03 3.88761122e-03 3.62628173e+01] [-1.19520109e-03 9.99999284e-01 6.28912174e-05 7.86857971e-01] [-3.88753328e-03 -6.75371744e-05 9.99992441e-01 -1.03162348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.29, Y:0.79, Z:-1.03 [[ 9.99965862e-01 7.81051552e-03 2.69657787e-03 3.62936710e+01] [-7.81066084e-03 9.99969495e-01 4.33616605e-05 7.86588583e-01] [-2.69615694e-03 -6.44222354e-05 9.99996363e-01 -1.03235033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.32, Y:0.79, Z:-1.03 [[ 9.99939493e-01 1.07499618e-02 2.33433425e-03 3.63235253e+01] [-1.07500782e-02 9.99942216e-01 3.73058005e-05 7.86034639e-01] [-2.33379833e-03 -6.23978189e-05 9.99997275e-01 -1.03367298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.35, Y:0.79, Z:-1.03 [[ 9.99909039e-01 1.33237172e-02 2.09580121e-03 3.63541046e+01] [-1.33238161e-02 9.99911233e-01 3.32453831e-05 7.85194196e-01] [-2.09517222e-03 -6.11664290e-05 9.99997803e-01 -1.03447284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.38, Y:0.79, Z:-1.03 [[ 9.99851782e-01 1.69226015e-02 3.16857233e-03 3.63847151e+01] [-1.69228457e-02 9.99856797e-01 5.02625920e-05 7.86685723e-01] [-3.16726801e-03 -1.03876403e-04 9.99994979e-01 -1.03415781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.42, Y:0.79, Z:-1.03 [[ 9.99834746e-01 1.77984972e-02 3.70057934e-03 3.64154463e+01] [-1.77988403e-02 9.99841586e-01 5.97799704e-05 7.88484495e-01] [-3.69892912e-03 -1.25636112e-04 9.99993151e-01 -1.03461911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.45, Y:0.79, Z:-1.04 [[ 9.99830234e-01 1.79763576e-02 4.04391250e-03 3.64459837e+01] [-1.79767674e-02 9.99838403e-01 6.49977815e-05 7.89558248e-01] [-4.04209059e-03 -1.37683221e-04 9.99991821e-01 -1.03554108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.48, Y:0.79, Z:-1.04 [[ 9.99864333e-01 1.60793820e-02 3.57331946e-03 3.64775289e+01] [-1.60796874e-02 9.99870712e-01 5.67509275e-05 7.89571510e-01] [-3.57194495e-03 -1.14201088e-04 9.99993614e-01 -1.03713661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.51, Y:0.79, Z:-1.04 [[ 9.99892469e-01 1.41539868e-02 3.83612914e-03 3.65080221e+01] [-1.41543232e-02 9.99899821e-01 6.05577044e-05 7.89204741e-01] [-3.83488770e-03 -1.14849004e-04 9.99992640e-01 -1.03818479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.54, Y:0.79, Z:-1.04 [[ 9.99917704e-01 1.19909721e-02 4.56090490e-03 3.65392251e+01] [-1.19914256e-02 9.99928098e-01 7.21096289e-05 7.88390245e-01] [-4.55971229e-03 -1.26795446e-04 9.99989596e-01 -1.03885206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.57, Y:0.79, Z:-1.04 [[ 9.99938461e-01 9.87192615e-03 5.06162590e-03 3.65713683e+01] [-9.87246972e-03 9.99951263e-01 8.24165294e-05 7.86801615e-01] [-5.06056560e-03 -1.32382206e-04 9.99987186e-01 -1.03979967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874203822000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.60, Y:0.78, Z:-1.04 [[ 9.99981197e-01 5.12105798e-03 3.37338391e-03 3.66035343e+01] [-5.12127478e-03 9.99986885e-01 5.56335125e-05 7.84560076e-01] [-3.37305476e-03 -7.29084924e-05 9.99994309e-01 -1.04092442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.64, Y:0.78, Z:-1.04 [[ 9.99993181e-01 2.60543940e-03 2.61714101e-03 3.66359816e+01] [-2.60556263e-03 9.99996605e-01 4.36767816e-05 7.84914402e-01] [-2.61701833e-03 -5.04956086e-05 9.99996574e-01 -1.04177878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:36.67, Y:0.79, Z:-1.04 [[ 9.99995993e-01 1.75422409e-04 2.82544569e-03 3.66667512e+01] [-1.75553349e-04 9.99999984e-01 4.60948715e-05 7.85136118e-01] [-2.82543756e-03 -4.65907032e-05 9.99996007e-01 -1.04231547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.70, Y:0.78, Z:-1.04 [[ 9.99984485e-01 -4.38808312e-03 3.43149457e-03 3.66990148e+01] [ 4.38792079e-03 9.99990372e-01 5.48335940e-05 7.80816490e-01] [-3.43170215e-03 -3.97756168e-05 9.99994111e-01 -1.04295001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.73, Y:0.78, Z:-1.04 [[ 9.99976777e-01 -6.00707017e-03 3.21886906e-03 3.67305122e+01] [ 6.00694505e-03 9.99981957e-01 4.85363186e-05 7.78424649e-01] [-3.21910254e-03 -2.91996218e-05 9.99994818e-01 -1.04368544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:36.76, Y:0.78, Z:-1.04 [[ 9.99971614e-01 -7.06226185e-03 2.62587754e-03 3.67626424e+01] [ 7.06218135e-03 9.99975062e-01 3.99287522e-05 7.77163593e-01] [-2.62609404e-03 -2.13831954e-05 9.99996552e-01 -1.04428596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054203822000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:36.79, Y:0.78, Z:-1.05 [[ 9.99968769e-01 -7.64667463e-03 1.99711006e-03 3.67939339e+01] [ 7.64662750e-03 9.99970764e-01 3.12307551e-05 7.76641238e-01] [-1.99729048e-03 -1.59586231e-05 9.99998005e-01 -1.04542238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084203822000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.83, Y:0.78, Z:-1.05 [[ 9.99973080e-01 -6.80760756e-03 2.73778535e-03 3.68265452e+01] [ 6.80752023e-03 9.99976828e-01 4.12154605e-05 7.77347260e-01] [-2.73800249e-03 -2.25768218e-05 9.99996251e-01 -1.04582147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11420382200001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:36.86, Y:0.78, Z:-1.05 [[ 9.99980674e-01 -5.44121194e-03 3.00754120e-03 3.68589154e+01] [ 5.44110113e-03 9.99985196e-01 4.50229560e-05 7.77775747e-01] [-3.00774166e-03 -2.86577501e-05 9.99995476e-01 -1.04652398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.89, Y:0.78, Z:-1.05 [[ 9.99988961e-01 -4.19261900e-03 2.12121940e-03 3.68895792e+01] [ 4.19256114e-03 9.99991211e-01 3.17250335e-05 7.77817997e-01] [-2.12133377e-03 -2.28313413e-05 9.99997750e-01 -1.04753669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.92, Y:0.78, Z:-1.05 [[ 9.99995105e-01 -3.01865120e-03 8.23034206e-04 3.69220336e+01] [ 3.01864146e-03 9.99995444e-01 1.30730474e-05 7.77310065e-01] [-8.23069919e-04 -1.05885382e-05 9.99999661e-01 -1.04812794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.95, Y:0.77, Z:-1.05 [[ 9.99998297e-01 -1.71044168e-03 6.92534894e-04 3.69519695e+01] [ 1.71043475e-03 9.99998537e-01 1.05928949e-05 7.74435222e-01] [-6.92552000e-04 -9.40834109e-06 9.99999760e-01 -1.04891690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234203822000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.98, Y:0.78, Z:-1.05 [[ 9.99998516e-01 -1.27041330e-03 1.16382684e-03 3.69835305e+01] [ 1.27039391e-03 9.99999193e-01 1.74000539e-05 7.75367770e-01] [-1.16384801e-03 -1.59215095e-05 9.99999323e-01 -1.04892671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264203822000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.01, Y:0.78, Z:-1.05 [[ 9.99999064e-01 -8.68350321e-04 1.05772471e-03 3.70133597e+01] [ 8.68334344e-04 9.99999623e-01 1.55641680e-05 7.77546950e-01] [-1.05773783e-03 -1.46456947e-05 9.99999440e-01 -1.04878158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29420382200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.04, Y:0.78, Z:-1.05 [[ 9.99999214e-01 -9.51503810e-04 8.16047940e-04 3.70436788e+01] [ 9.51494286e-04 9.99999547e-01 1.20584642e-05 7.79626104e-01] [-8.16059045e-04 -1.12819898e-05 9.99999667e-01 -1.05021183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:37.07, Y:0.78, Z:-1.05 [[ 9.99995815e-01 -1.58061863e-03 2.42301651e-03 3.70739811e+01] [ 1.58053793e-03 9.99998750e-01 3.52209889e-05 7.79832316e-01] [-2.42306915e-03 -3.13911720e-05 9.99997064e-01 -1.05186572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.11, Y:0.78, Z:-1.05 [[ 9.99989287e-01 -2.00794561e-03 4.17069019e-03 3.71064821e+01] [ 2.00770831e-03 9.99997983e-01 6.10835501e-05 7.78387540e-01] [-4.17080443e-03 -5.27093664e-05 9.99991301e-01 -1.05225604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.14, Y:0.78, Z:-1.05 [[ 9.99983219e-01 -2.50519771e-03 5.22364630e-03 3.71377158e+01] [ 2.50483622e-03 9.99996860e-01 7.57440221e-05 7.77568698e-01] [-5.22381965e-03 -6.26583726e-05 9.99986354e-01 -1.05270358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.17, Y:0.78, Z:-1.05 [[ 9.99992327e-01 -2.67887697e-03 2.85808945e-03 3.71687630e+01] [ 2.67876868e-03 9.99996411e-01 4.17138325e-05 7.77647649e-01] [-2.85819094e-03 -3.40573519e-05 9.99995915e-01 -1.05314543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444203822000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.20, Y:0.78, Z:-1.05 [[ 9.99995811e-01 -2.12578007e-03 1.96432245e-03 3.72004003e+01] [ 2.12572573e-03 9.99997740e-01 2.97477703e-05 7.77808684e-01] [-1.96438125e-03 -2.55720349e-05 9.99998070e-01 -1.05441667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.23, Y:0.78, Z:-1.06 [[ 9.99997914e-01 -1.42035801e-03 1.46766056e-03 3.72318651e+01] [ 1.42032814e-03 9.99998991e-01 2.13974587e-05 7.77670418e-01] [-1.46768947e-03 -1.93128545e-05 9.99998923e-01 -1.05526358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.26, Y:0.78, Z:-1.06 [[ 9.99999106e-01 -3.64327395e-04 1.28630206e-03 3.72626438e+01] [ 3.64303126e-04 9.99999933e-01 1.91015444e-05 7.77332168e-01] [-1.28630894e-03 -1.86329235e-05 9.99999173e-01 -1.05620151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.29, Y:0.77, Z:-1.06 [[ 9.99999302e-01 1.16087715e-03 -2.19822438e-04 3.72941772e+01] [-1.16087774e-03 9.99999326e-01 -2.54604831e-06 7.72966727e-01] [ 2.19819334e-04 2.80123350e-06 9.99999976e-01 -1.05796172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.32, Y:0.77, Z:-1.06 [[ 9.99998076e-01 1.78614002e-03 -8.10800415e-04 3.73243296e+01] [-1.78614991e-03 9.99998405e-01 -1.14624690e-05 7.70718554e-01] [ 8.10778648e-04 1.29106580e-05 9.99999671e-01 -1.05876165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594203822000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.35, Y:0.77, Z:-1.06 [[ 9.99994213e-01 3.26366024e-03 -9.59951445e-04 3.73539671e+01] [-3.26367505e-03 9.99994674e-01 -1.38637771e-05 7.71277318e-01] [ 9.59901086e-04 1.69966664e-05 9.99999539e-01 -1.05857353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624203822000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.38, Y:0.78, Z:-1.06 [[ 9.99973304e-01 7.15846261e-03 -1.46567681e-03 3.73829552e+01] [-7.15850112e-03 9.99974377e-01 -2.10261439e-05 7.75617354e-01] [ 1.46548874e-03 3.15176316e-05 9.99998926e-01 -1.05835851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.41, Y:0.78, Z:-1.06 [[ 9.99953313e-01 9.57677913e-03 -1.28765709e-03 3.74119106e+01] [-9.57681164e-03 9.99954141e-01 -1.90812711e-05 7.76608874e-01] [ 1.28741531e-03 3.14120297e-05 9.99999171e-01 -1.05859659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.44, Y:0.78, Z:-1.06 [[ 9.99928639e-01 1.19050066e-02 -9.94204483e-04 3.74401656e+01] [-1.19050274e-02 9.99929133e-01 -1.49419784e-05 7.77138881e-01] [ 9.93956142e-04 2.67769437e-05 9.99999506e-01 -1.05904903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.47, Y:0.78, Z:-1.06 [[ 9.99862425e-01 1.65782750e-02 -5.40200706e-04 3.74690999e+01] [-1.65782822e-02 9.99862571e-01 -8.83955430e-06 7.80571736e-01] [ 5.39979922e-04 1.77939379e-05 9.99999854e-01 -1.05832869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.50, Y:0.78, Z:-1.06 [[ 9.99817247e-01 1.91172336e-02 6.08505771e-05 3.74981595e+01] [-1.91172337e-02 9.99817249e-01 2.96877659e-07 7.82188285e-01] [-6.08337812e-05 -1.46011811e-06 9.99999998e-01 -1.05841157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774203822000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:37.53, Y:0.78, Z:-1.06 [[ 9.99817477e-01 1.91051917e-02 6.08463254e-05 3.75283128e+01] [-1.91051918e-02 9.99817479e-01 5.94224661e-07 7.82658506e-01] [-6.08238670e-05 -1.75659692e-06 9.99999998e-01 -1.05910558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:0.78, Z:-1.06 [[ 9.99782546e-01 2.08494629e-02 4.01088652e-04 3.75574452e+01] [-2.08494666e-02 9.99782626e-01 4.93007925e-06 7.83098477e-01] [-4.00898676e-04 -1.32914916e-05 9.99999920e-01 -1.05975757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.59, Y:0.79, Z:-1.06 [[ 9.99727843e-01 2.33011806e-02 -1.13759151e-03 3.75872463e+01] [-2.33012149e-02 9.99728490e-01 -1.69113270e-05 7.85752180e-01] [ 1.13688859e-03 4.34139887e-05 9.99999353e-01 -1.06139369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:0.79, Z:-1.06 [[ 9.99724281e-01 2.34481678e-02 -1.24285571e-03 3.76156034e+01] [-2.34482089e-02 9.99725053e-01 -1.84919979e-05 7.87788042e-01] [ 1.24208038e-03 4.76296396e-05 9.99999227e-01 -1.06298609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:0.79, Z:-1.06 [[ 9.99745241e-01 2.25504243e-02 -9.64819631e-04 3.76440810e+01] [-2.25504487e-02 9.99745706e-01 -1.44945696e-05 7.89404655e-01] [ 9.64247425e-04 3.62479926e-05 9.99999534e-01 -1.06337580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:0.79, Z:-1.06 [[ 9.99781885e-01 2.08728740e-02 -7.10484286e-04 3.76727837e+01] [-2.08728871e-02 9.99782137e-01 -1.10428069e-05 7.91317003e-01] [ 7.10099003e-04 2.58702566e-05 9.99999748e-01 -1.06364658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.70, Y:0.80, Z:-1.06 [[ 9.99865314e-01 1.64098948e-02 -2.64049146e-04 3.77020792e+01] [-1.64098966e-02 9.99865349e-01 -4.35381449e-06 7.98404462e-01] [ 2.63942146e-04 8.68624727e-06 9.99999965e-01 -1.06212969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.73, Y:0.80, Z:-1.06 [[ 9.99905463e-01 1.37492951e-02 1.46775112e-04 3.77317208e+01] [-1.37492955e-02 9.99905474e-01 1.56679287e-06 8.01423073e-01] [-1.46739695e-04 -3.58469914e-06 9.99999989e-01 -1.06204620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.76, Y:0.80, Z:-1.06 [[ 9.99960976e-01 8.83425059e-03 4.18826317e-05 3.77611568e+01] [-8.83425061e-03 9.99960977e-01 3.28375003e-07 8.01268828e-01] [-4.18780964e-05 -6.98363854e-07 9.99999999e-01 -1.06217412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:0.80, Z:-1.06 [[ 9.99975071e-01 7.05548618e-03 -2.80055735e-04 3.77907473e+01] [-7.05548767e-03 9.99975110e-01 -4.33707861e-06 8.01683823e-01] [ 2.80018164e-04 6.31290028e-06 9.99999961e-01 -1.06290478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:0.80, Z:-1.06 [[ 9.99984674e-01 5.51079118e-03 -5.32533597e-04 3.78205942e+01] [-5.51079622e-03 9.99984815e-01 -8.00627040e-06 8.03750506e-01] [ 5.32481390e-04 1.09408318e-05 9.99999858e-01 -1.06408050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:0.81, Z:-1.06 [[ 9.99990393e-01 4.22559195e-03 -1.16568078e-03 3.78500538e+01] [-4.22561525e-03 9.99991072e-01 -1.75242754e-05 8.06919926e-01] [ 1.16559633e-03 2.24498256e-05 9.99999320e-01 -1.06450926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:0.82, Z:-1.06 [[ 9.99998011e-01 1.65539216e-03 -1.11242396e-03 3.78794511e+01] [-1.65541187e-03 9.99998630e-01 -1.67961325e-05 8.15724996e-01] [ 1.11239463e-03 1.86376189e-05 9.99999381e-01 -1.06476399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:0.82, Z:-1.07 [[ 9.99998402e-01 2.51290890e-04 -1.76991120e-03 3.79084990e+01] [-2.51337527e-04 9.99999968e-01 -2.61273645e-05 8.19168174e-01] [ 1.76990458e-03 2.65721678e-05 9.99998433e-01 -1.06553595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.82, Z:-1.07 [[ 9.99993153e-01 -1.42126948e-03 -3.41677420e-03 3.79384148e+01] [ 1.42110508e-03 9.99998989e-01 -5.05426832e-05 8.20360824e-01] [ 3.41684258e-03 4.56867419e-05 9.99994162e-01 -1.06714363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.97, Y:0.82, Z:-1.07 [[ 9.99982538e-01 -3.53441596e-03 -4.73616753e-03 3.79673246e+01] [ 3.53412269e-03 9.99993752e-01 -7.02893409e-05 8.19993933e-01] [ 4.73638637e-03 5.35499163e-05 9.99988782e-01 -1.06865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:0.82, Z:-1.07 [[ 9.99967332e-01 -7.07309592e-03 -3.91228357e-03 3.79957416e+01] [ 7.07292057e-03 9.99974985e-01 -5.86546313e-05 8.20916544e-01] [ 3.91260058e-03 3.09814442e-05 9.99992345e-01 -1.06757717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:0.82, Z:-1.07 [[ 9.99960171e-01 -8.41306749e-03 -2.97924521e-03 3.80243945e+01] [ 8.41296137e-03 9.99964609e-01 -4.81498737e-05 8.22220960e-01] [ 2.97954486e-03 2.30836811e-05 9.99995561e-01 -1.06729180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.05, Y:0.82, Z:-1.07 [[ 9.99955825e-01 -9.18899634e-03 -1.97753561e-03 3.80525889e+01] [ 9.18895438e-03 9.99957780e-01 -3.03049467e-05 8.22905420e-01] [ 1.97773059e-03 1.21321235e-05 9.99998044e-01 -1.06681708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.08, Y:0.82, Z:-1.07 [[ 9.99956049e-01 -9.36513701e-03 -4.40056637e-04 3.80829080e+01] [ 9.36513503e-03 9.99956146e-01 -6.56291890e-06 8.22802901e-01] [ 4.40098801e-04 2.44144063e-06 9.99999903e-01 -1.06677142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:0.82, Z:-1.07 [[ 9.99955387e-01 -9.34861788e-03 1.35194329e-03 3.81138000e+01] [ 9.34859848e-03 9.99956301e-01 2.06700031e-05 8.22243151e-01] [-1.35207745e-03 -8.03030591e-06 9.99999086e-01 -1.06670423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:0.82, Z:-1.07 [[ 9.99959602e-01 -8.94105681e-03 9.23465872e-04 3.81448676e+01] [ 8.94104744e-03 9.99960028e-01 1.42731304e-05 8.22493444e-01] [-9.23556576e-04 -6.01580167e-06 9.99999574e-01 -1.06748730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.17, Y:0.82, Z:-1.07 [[ 9.99963308e-01 -8.56134884e-03 2.92905260e-04 3.81748075e+01] [ 8.56134785e-03 9.99963351e-01 4.62282267e-06 8.23140803e-01] [-2.92934103e-04 -2.11498923e-06 9.99999957e-01 -1.06849790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.21, Y:0.82, Z:-1.07 [[ 9.99976057e-01 -6.82442890e-03 -1.14589840e-03 3.82059665e+01] [ 6.82441453e-03 9.99976713e-01 -1.64537405e-05 8.21982634e-01] [ 1.14598400e-03 8.63326088e-06 9.99999343e-01 -1.06919336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:0.82, Z:-1.07 [[ 9.99982193e-01 -5.90821100e-03 -8.40592370e-04 3.82368312e+01] [ 5.90820260e-03 9.99982546e-01 -1.24671094e-05 8.20296619e-01] [ 8.40651357e-04 7.50049742e-06 9.99999647e-01 -1.06963695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:0.82, Z:-1.07 [[ 9.99986154e-01 -5.19181639e-03 -8.58576267e-04 3.82672526e+01] [ 5.19180737e-03 9.99986522e-01 -1.27338347e-05 8.18729596e-01] [ 8.58630808e-04 8.27609580e-06 9.99999631e-01 -1.07027428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.30, Y:0.82, Z:-1.07 [[ 9.99986920e-01 -4.46650200e-03 -2.49194816e-03 3.82970669e+01] [ 4.46642300e-03 9.99990025e-01 -3.72648308e-05 8.17666995e-01] [ 2.49208974e-03 2.61342488e-05 9.99996894e-01 -1.07045915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.33, Y:0.82, Z:-1.07 [[ 9.99984444e-01 -3.33402958e-03 -4.47166318e-03 3.83263585e+01] [ 3.33376308e-03 9.99994441e-01 -6.70491868e-05 8.17645974e-01] [ 4.47186186e-03 5.21406782e-05 9.99990000e-01 -1.07068731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.35, Y:0.82, Z:-1.07 [[ 9.99990449e-01 -2.85119978e-03 -3.31251903e-03 3.83537050e+01] [ 2.85104695e-03 9.99995934e-01 -5.08569816e-05 8.18143259e-01] [ 3.31265056e-03 4.14123486e-05 9.99994512e-01 -1.07096402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.38, Y:0.82, Z:-1.07 [[ 9.99995003e-01 -2.44900632e-03 -1.99918395e-03 3.83823815e+01] [ 2.44894314e-03 9.99997001e-01 -3.40478729e-05 8.18933210e-01] [ 1.99926134e-03 2.91518149e-05 9.99998001e-01 -1.07077720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:0.82, Z:-1.07 [[ 9.99997568e-01 -1.42073731e-03 -1.68680036e-03 3.84124763e+01] [ 1.42069535e-03 9.99998990e-01 -2.60719699e-05 8.18753641e-01] [ 1.68683570e-03 2.36754771e-05 9.99998577e-01 -1.07086334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.44, Y:0.82, Z:-1.07 [[ 9.99995150e-01 5.01867967e-04 -3.07364077e-03 3.84424807e+01] [-5.02014175e-04 9.99999873e-01 -4.67969912e-05 8.15657972e-01] [ 3.07361689e-03 4.83397755e-05 9.99995275e-01 -1.07244797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:0.81, Z:-1.07 [[ 9.99990738e-01 1.25922799e-03 -4.11566746e-03 3.84707965e+01] [-1.25949900e-03 9.99999205e-01 -6.32576811e-05 8.14586710e-01] [ 4.11558453e-03 6.84407742e-05 9.99991529e-01 -1.07303430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764203822000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.50, Y:0.82, Z:-1.07 [[ 9.99984041e-01 3.39033552e-03 -4.51921000e-03 3.84986236e+01] [-3.39068730e-03 9.99994249e-01 -7.01810562e-05 8.15279799e-01] [ 4.51894608e-03 8.55031641e-05 9.99989786e-01 -1.07391846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:0.81, Z:-1.07 [[ 9.99983370e-01 3.96923692e-03 -4.18397168e-03 3.85274430e+01] [-3.96954368e-03 9.99992119e-01 -6.50166372e-05 8.14948794e-01] [ 4.18368064e-03 8.16240143e-05 9.99991245e-01 -1.07456872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.56, Y:0.81, Z:-1.08 [[ 9.99988591e-01 3.76597844e-03 -2.93857646e-03 3.85561820e+01] [-3.76613025e-03 9.99992907e-01 -4.61313258e-05 8.14016024e-01] [ 2.93838189e-03 5.71978612e-05 9.99995681e-01 -1.07515990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:0.81, Z:-1.08 [[ 9.99993304e-01 3.16124935e-03 -1.84334085e-03 3.85848371e+01] [-3.16130901e-03 9.99995003e-01 -2.94527791e-05 8.12997762e-01] [ 1.84323853e-03 3.52799520e-05 9.99998301e-01 -1.07509039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:0.81, Z:-1.07 [[ 9.99998632e-01 1.56981296e-03 -5.21036742e-04 3.86145651e+01] [-1.56981765e-03 9.99998768e-01 -8.58889278e-06 8.12507188e-01] [ 5.21022617e-04 9.40681370e-06 9.99999864e-01 -1.07477810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.64, Y:0.81, Z:-1.08 [[ 9.99999288e-01 1.06640664e-03 -5.35395909e-04 3.86445906e+01] [-1.06641120e-03 9.99999431e-01 -8.24378729e-06 8.12976178e-01] [ 5.35386813e-04 8.81473361e-06 9.99999857e-01 -1.07533480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944203822000006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.67, Y:0.81, Z:-1.08 [[ 9.99999213e-01 9.90716060e-04 -7.69899347e-04 3.86738512e+01] [-9.90725228e-04 9.99999509e-01 -1.15266380e-05 8.12850361e-01] [ 7.69887550e-04 1.22893877e-05 9.99999704e-01 -1.07636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.70, Y:0.81, Z:-1.08 [[ 9.99997748e-01 1.36606560e-03 -1.62412215e-03 3.87034328e+01] [-1.36610892e-03 9.99999067e-01 -2.55657851e-05 8.11958436e-01] [ 1.62408571e-03 2.77844553e-05 9.99998681e-01 -1.07778118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:0.81, Z:-1.08 [[ 9.99995509e-01 2.20879690e-03 -2.02548166e-03 3.87334845e+01] [-2.20886585e-03 9.99997560e-01 -3.18018843e-05 8.07238970e-01] [ 2.02540648e-03 3.62757587e-05 9.99997948e-01 -1.07902213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:0.81, Z:-1.08 [[ 9.99993870e-01 2.68419132e-03 -2.24833282e-03 3.87629152e+01] [-2.68427748e-03 9.99996397e-01 -3.53056687e-05 8.05203712e-01] [ 2.24822996e-03 4.13406014e-05 9.99997472e-01 -1.07936404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:0.80, Z:-1.08 [[ 9.99989907e-01 3.44323969e-03 -2.88611880e-03 3.87915512e+01] [-3.44338637e-03 9.99994070e-01 -4.58537791e-05 8.03919264e-01] [ 2.88594381e-03 5.57913385e-05 9.99995834e-01 -1.07938141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:0.80, Z:-1.08 [[ 9.99978110e-01 5.42519706e-03 -3.78763494e-03 3.88205330e+01] [-5.42546204e-03 9.99985280e-01 -5.96861007e-05 8.01403548e-01] [ 3.78725538e-03 8.02344638e-05 9.99992825e-01 -1.08003549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.85, Y:0.80, Z:-1.08 [[ 9.99971371e-01 6.52962078e-03 -3.82372399e-03 3.88488934e+01] [-6.52990059e-03 9.99978678e-01 -6.06970634e-05 8.00690245e-01] [ 3.82324613e-03 8.56638632e-05 9.99992688e-01 -1.08154685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.88, Y:0.80, Z:-1.08 [[ 9.99960568e-01 7.87286909e-03 -4.10856536e-03 3.88782093e+01] [-7.87320402e-03 9.99969004e-01 -6.53522885e-05 8.00315241e-01] [ 4.10792350e-03 9.76972849e-05 9.99991558e-01 -1.08186251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.91, Y:0.80, Z:-1.08 [[ 9.99947027e-01 9.53391536e-03 -3.87920213e-03 3.89059883e+01] [-9.53422865e-03 9.99954546e-01 -6.22778273e-05 8.00140500e-01] [ 3.87843205e-03 9.92597283e-05 9.99992474e-01 -1.08239917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.93, Y:0.80, Z:-1.08 [[ 9.99896712e-01 1.36537496e-02 -4.48771570e-03 3.89348283e+01] [-1.36542092e-02 9.99906774e-01 -7.17913407e-05 7.97614244e-01] [ 4.48631710e-03 1.33060135e-04 9.99989928e-01 -1.08264939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.96, Y:0.80, Z:-1.08 [[ 9.99869510e-01 1.55632633e-02 -4.32996070e-03 3.89625613e+01] [-1.55637122e-02 9.99878876e-01 -6.99768822e-05 7.96034414e-01] [ 4.32834717e-03 1.37358013e-04 9.99990623e-01 -1.08272940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:0.80, Z:-1.08 [[ 9.99844192e-01 1.71904908e-02 -4.00987252e-03 3.89915295e+01] [-1.71908885e-02 9.99852224e-01 -6.47192332e-05 7.96437840e-01] [ 4.00816740e-03 1.33642421e-04 9.99991958e-01 -1.08266848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.02, Y:0.80, Z:-1.08 [[ 9.99797204e-01 2.00652662e-02 -1.71327392e-03 3.90195622e+01] [-2.00653447e-02 9.99798670e-01 -2.86741713e-05 7.99470125e-01] [ 1.71235363e-03 6.30457881e-05 9.99998532e-01 -1.08283064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:0.80, Z:-1.08 [[ 9.99778933e-01 2.10245938e-02 -2.26205141e-04 3.90489415e+01] [-2.10245953e-02 9.99778959e-01 -4.14565799e-06 7.99554381e-01] [ 2.26067980e-04 8.90061306e-06 9.99999974e-01 -1.08299118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:0.80, Z:-1.08 [[ 9.99764073e-01 2.16903979e-02 1.15068150e-03 3.90772471e+01] [-2.16904327e-02 9.99764735e-01 1.78009466e-05 7.99944624e-01] [-1.15002468e-03 -4.27555266e-05 9.99999338e-01 -1.08285237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:0.80, Z:-1.08 [[ 9.99752687e-01 2.21476558e-02 2.01136510e-03 3.91063608e+01] [-2.21477647e-02 9.99754708e-01 3.18772307e-05 8.01314584e-01] [-2.01016572e-03 -7.64165881e-05 9.99997977e-01 -1.08326509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.14, Y:0.80, Z:-1.09 [[ 9.99747875e-01 2.24275542e-02 1.09142959e-03 3.91367782e+01] [-2.24275866e-02 9.99748470e-01 1.74418131e-05 8.01844201e-01] [-1.09076389e-03 -4.19155472e-05 9.99999404e-01 -1.08569088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.17, Y:0.80, Z:-1.09 [[ 9.99754943e-01 2.21337239e-02 3.89312732e-04 3.91672342e+01] [-2.21337280e-02 9.99755019e-01 6.22149151e-06 8.00995291e-01] [-3.89079653e-04 -1.48369090e-05 9.99999924e-01 -1.08675482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.20, Y:0.80, Z:-1.09 [[ 9.99766268e-01 2.16100407e-02 6.44875029e-04 3.91969053e+01] [-2.16100516e-02 9.99766476e-01 1.00377469e-05 8.00820075e-01] [-6.44507519e-04 -2.39711835e-05 9.99999792e-01 -1.08762288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.23, Y:0.80, Z:-1.09 [[ 9.99810600e-01 1.94568502e-02 4.41529977e-04 3.92269783e+01] [-1.94568552e-02 9.99810697e-01 7.06124995e-06 8.02840709e-01] [-4.41309005e-04 -1.56506974e-05 9.99999903e-01 -1.08728428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.26, Y:0.80, Z:-1.09 [[ 9.99840301e-01 1.78635134e-02 -5.16292070e-04 3.92568247e+01] [-1.78635202e-02 9.99840435e-01 -8.53553365e-06 8.03854373e-01] [ 5.16057213e-04 1.77569644e-05 9.99999867e-01 -1.08799485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:0.80, Z:-1.09 [[ 9.99874205e-01 1.57887606e-02 -1.51309694e-03 3.92860140e+01] [-1.57888161e-02 9.99875349e-01 -2.47824507e-05 8.04355123e-01] [ 1.51251704e-03 4.86693425e-05 9.99998855e-01 -1.08883084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:0.80, Z:-1.09 [[ 9.99924914e-01 1.19983082e-02 -2.49130716e-03 3.93152818e+01] [-1.19984464e-02 9.99928015e-01 -4.05447724e-05 8.03655119e-01] [ 2.49064136e-03 7.04335435e-05 9.99996896e-01 -1.08959319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.34, Y:0.80, Z:-1.09 [[ 9.99942413e-01 1.06466590e-02 -1.34862677e-03 3.93441656e+01] [-1.06466991e-02 9.99943322e-01 -2.25244256e-05 8.03051246e-01] [ 1.34831052e-03 3.68815519e-05 9.99999090e-01 -1.08970531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:0.80, Z:-1.09 [[ 9.99942538e-01 1.06349004e-02 -1.34863549e-03 3.93743180e+01] [-1.06349397e-02 9.99943447e-01 -2.19825741e-05 8.03575525e-01] [ 1.34832544e-03 3.63239681e-05 9.99999090e-01 -1.09039932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.80, Z:-1.09 [[ 9.99954251e-01 9.55520257e-03 4.40886841e-04 3.94044252e+01] [-9.55520639e-03 9.99954348e-01 6.56777933e-06 8.02581955e-01] [-4.40803957e-04 -1.07802436e-05 9.99999903e-01 -1.09047640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.44, Y:0.80, Z:-1.09 [[ 9.99956954e-01 9.09962213e-03 1.81299589e-03 3.94352022e+01] [-9.09969007e-03 9.99958597e-01 2.92309841e-05 8.01217644e-01] [-1.81265484e-03 -4.57274266e-05 9.99998356e-01 -1.09020652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:0.80, Z:-1.09 [[ 9.99959152e-01 8.76880159e-03 2.19141071e-03 3.94654565e+01] [-8.76890060e-03 9.99961552e-01 3.55761497e-05 8.01583156e-01] [-2.19101449e-03 -5.47909591e-05 9.99997598e-01 -1.09030126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:0.80, Z:-1.09 [[ 9.99962931e-01 8.17583975e-03 2.70029790e-03 3.94966369e+01] [-8.17598837e-03 9.99966575e-01 4.40029408e-05 8.04082796e-01] [-2.69984788e-03 -6.60789139e-05 9.99996353e-01 -1.09076538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:0.81, Z:-1.09 [[ 9.99964096e-01 7.65061929e-03 3.64351551e-03 3.95280932e+01] [-7.65089484e-03 9.99970730e-01 6.16957404e-05 8.06264969e-01] [-3.64293685e-03 -8.95696793e-05 9.99993360e-01 -1.09207296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:0.80, Z:-1.09 [[ 9.99970672e-01 6.37654759e-03 4.24213635e-03 3.95597221e+01] [-6.37689883e-03 9.99979665e-01 6.92769578e-05 8.04817231e-01] [-4.24160834e-03 -9.63266004e-05 9.99991000e-01 -1.09346310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:0.80, Z:-1.09 [[ 9.99975521e-01 5.66843670e-03 4.10207682e-03 3.95916300e+01] [-5.66876376e-03 9.99983930e-01 6.81057456e-05 8.02312047e-01] [-4.10162484e-03 -9.13577828e-05 9.99991584e-01 -1.09372417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:0.80, Z:-1.09 [[ 9.99979960e-01 4.62488496e-03 4.32323351e-03 3.96241723e+01] [-4.62523540e-03 9.99989301e-01 7.10637105e-05 7.99906564e-01] [-4.32285859e-03 -9.10582590e-05 9.99990652e-01 -1.09447201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:0.80, Z:-1.09 [[ 9.99987918e-01 2.65691480e-03 4.13588045e-03 3.96567468e+01] [-2.65721535e-03 9.99996467e-01 6.71761598e-05 7.96824789e-01] [-4.13568736e-03 -7.81652732e-05 9.99991445e-01 -1.09486000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:0.80, Z:-1.10 [[ 9.99988933e-01 2.40124102e-03 4.04584206e-03 3.96889735e+01] [-2.40152488e-03 9.99997114e-01 6.53027825e-05 7.96465095e-01] [-4.04567358e-03 -7.50182502e-05 9.99991813e-01 -1.09539224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:0.80, Z:-1.10 [[ 9.99987272e-01 2.73607724e-03 4.23913390e-03 3.97212450e+01] [-2.73638892e-03 9.99996254e-01 6.77259313e-05 7.95851961e-01] [-4.23893272e-03 -7.93249883e-05 9.99991013e-01 -1.09620310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.80, Z:-1.10 [[ 9.99985939e-01 3.16212636e-03 4.25703470e-03 3.97528533e+01] [-3.16243601e-03 9.99994997e-01 6.60090856e-05 7.95660625e-01] [-4.25680468e-03 -7.94707573e-05 9.99990937e-01 -1.09661651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:0.79, Z:-1.10 [[ 9.99981920e-01 4.04516153e-03 4.44928624e-03 3.97846498e+01] [-4.04550921e-03 9.99991815e-01 6.91446510e-05 7.94678839e-01] [-4.44897012e-03 -8.71430294e-05 9.99990099e-01 -1.09849188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.82, Y:0.79, Z:-1.10 [[ 9.99981546e-01 4.39014478e-03 4.19940442e-03 3.98164654e+01] [-4.39045635e-03 9.99990360e-01 6.49764121e-05 7.92854837e-01] [-4.19907868e-03 -8.34125148e-05 9.99991180e-01 -1.09987271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.85, Y:0.79, Z:-1.10 [[ 9.99981758e-01 4.31186250e-03 4.22986461e-03 3.98487829e+01] [-4.31217414e-03 9.99990700e-01 6.45600118e-05 7.90758957e-01] [-4.22954690e-03 -8.27987469e-05 9.99991052e-01 -1.10091269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:0.79, Z:-1.10 [[ 9.99981612e-01 3.30699851e-03 5.08333649e-03 3.98805262e+01] [-3.30742822e-03 9.99994528e-01 7.61294345e-05 7.87918679e-01] [-5.08305691e-03 -9.29408052e-05 9.99987077e-01 -1.10049351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:0.79, Z:-1.10 [[ 9.99981695e-01 2.92922950e-03 5.29429040e-03 3.99123958e+01] [-2.92968379e-03 9.99995705e-01 7.80554302e-05 7.86593207e-01] [-5.29403902e-03 -9.35645982e-05 9.99985982e-01 -1.10020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.95, Y:0.78, Z:-1.10 [[ 9.99983216e-01 2.49447594e-03 5.22922251e-03 3.99453648e+01] [-2.49491011e-03 9.99996885e-01 7.65060744e-05 7.84777548e-01] [-5.22901538e-03 -8.95512304e-05 9.99986325e-01 -1.10069262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.98, Y:0.78, Z:-1.10 [[ 9.99983104e-01 1.97963468e-03 5.46556439e-03 3.99778428e+01] [-1.98008733e-03 9.99998037e-01 7.74080368e-05 7.83324419e-01] [-5.46540042e-03 -8.82290237e-05 9.99985061e-01 -1.10119687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.01, Y:0.78, Z:-1.10 [[ 9.99979971e-01 1.51588755e-03 6.14491682e-03 4.00112004e+01] [-1.51645130e-03 9.99998846e-01 8.70847385e-05 7.81945817e-01] [-6.14477772e-03 -9.64014614e-05 9.99981116e-01 -1.10172324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:0.78, Z:-1.10 [[ 9.99970649e-01 2.64919690e-04 7.65714949e-03 4.00443442e+01] [-2.65739177e-04 9.99999959e-01 1.06005231e-04 7.75049595e-01] [-7.65712109e-03 -1.08036925e-04 9.99970678e-01 -1.10331509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.08, Y:0.77, Z:-1.10 [[ 9.99972829e-01 -3.13181513e-04 7.36506311e-03 4.00772425e+01] [ 3.12447080e-04 9.99999946e-01 1.00868937e-04 7.70669208e-01] [-7.36509430e-03 -9.85650039e-05 9.99972872e-01 -1.10434167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.11, Y:0.77, Z:-1.11 [[ 9.99977129e-01 -5.31249560e-04 6.74229645e-03 4.01090110e+01] [ 5.30653509e-04 9.99999855e-01 9.01934224e-05 7.67281466e-01] [-6.74234339e-03 -8.66135364e-05 9.99977266e-01 -1.10501605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.14, Y:0.76, Z:-1.11 [[ 9.99983232e-01 3.64165039e-04 5.77953965e-03 4.01410075e+01] [-3.64608985e-04 9.99999931e-01 7.57598088e-05 7.63576428e-01] [-5.77951166e-03 -7.78658105e-05 9.99983295e-01 -1.10605508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:0.76, Z:-1.11 [[ 9.99984916e-01 1.79417593e-03 5.19124076e-03 4.01723078e+01] [-1.79455150e-03 9.99998388e-01 6.76885794e-05 7.61932607e-01] [-5.19111094e-03 -7.70035073e-05 9.99986523e-01 -1.10681003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:0.76, Z:-1.11 [[ 9.99985596e-01 3.33193560e-03 4.20788362e-03 4.02041201e+01] [-3.33220202e-03 9.99994447e-01 5.63054277e-05 7.60004645e-01] [-4.20767265e-03 -7.03261350e-05 9.99991145e-01 -1.10802384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:0.76, Z:-1.11 [[ 9.99982135e-01 4.99508562e-03 3.28316078e-03 4.02369803e+01] [-4.99526221e-03 9.99987523e-01 4.55860867e-05 7.58087232e-01] [-3.28289211e-03 -6.19855212e-05 9.99994609e-01 -1.10900289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:0.76, Z:-1.11 [[ 9.99963855e-01 7.97814201e-03 2.93900379e-03 4.02678696e+01] [-7.97828715e-03 9.99968172e-01 3.76650532e-05 7.55500705e-01] [-2.93860975e-03 -6.11119079e-05 9.99995680e-01 -1.10993996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:0.75, Z:-1.11 [[ 9.99946922e-01 9.67938595e-03 3.53013811e-03 4.03003726e+01] [-9.67961423e-03 9.99953150e-01 4.75856693e-05 7.54750472e-01] [-3.52951212e-03 -8.17535186e-05 9.99993768e-01 -1.11072289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.33, Y:0.75, Z:-1.11 [[ 9.99927790e-01 1.15544804e-02 3.30297235e-03 4.03318997e+01] [-1.15546902e-02 9.99933241e-01 4.44360174e-05 7.53843045e-01] [-3.30223842e-03 -8.25976309e-05 9.99994544e-01 -1.11163434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:0.75, Z:-1.11 [[ 9.99887626e-01 1.48677426e-02 1.91973840e-03 4.03641102e+01] [-1.48678217e-02 9.99889467e-01 2.69719304e-05 7.51584485e-01] [-1.91912520e-03 -5.55112279e-05 9.99998157e-01 -1.11360771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:0.75, Z:-1.11 [[ 9.99865249e-01 1.63688515e-02 1.24307083e-03 4.03950635e+01] [-1.63688869e-02 9.99866021e-01 1.83438704e-05 7.50579161e-01] [-1.24260401e-03 -3.86890844e-05 9.99999227e-01 -1.11485737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:0.75, Z:-1.12 [[ 9.99845625e-01 1.74767175e-02 1.81400166e-03 4.04253754e+01] [-1.74767874e-02 9.99847269e-01 2.26915026e-05 7.50350605e-01] [-1.81332803e-03 -5.43909208e-05 9.99998354e-01 -1.11562200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.46, Y:0.75, Z:-1.12 [[ 9.99802203e-01 1.95308657e-02 3.75496767e-03 4.04563070e+01] [-1.95311716e-02 9.99809247e-01 4.47965826e-05 7.52247859e-01] [-3.75337649e-03 -1.18126640e-04 9.99992949e-01 -1.11586202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.49, Y:0.75, Z:-1.12 [[ 9.99785979e-01 2.03429670e-02 3.76287847e-03 4.04879404e+01] [-2.03432904e-02 9.99793053e-01 4.76969779e-05 7.53733047e-01] [-3.76112946e-03 -1.24236099e-04 9.99992919e-01 -1.11688708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:0.75, Z:-1.12 [[ 9.99782438e-01 2.05685414e-02 3.46578888e-03 4.05197366e+01] [-2.05688158e-02 9.99788439e-01 4.35449786e-05 7.54600325e-01] [-3.46415999e-03 -1.14822678e-04 9.99993993e-01 -1.11803733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:0.75, Z:-1.12 [[ 9.99790713e-01 2.02351695e-02 3.01117514e-03 4.05506473e+01] [-2.02353743e-02 9.99795243e-01 3.75841965e-05 7.54410257e-01] [-3.00979806e-03 -9.85085867e-05 9.99995466e-01 -1.11865397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:0.75, Z:-1.12 [[ 9.99825103e-01 1.85009059e-02 2.73511259e-03 4.05824211e+01] [-1.85010688e-02 9.99828840e-01 3.42860417e-05 7.54172247e-01] [-2.73401013e-03 -8.48825515e-05 9.99996259e-01 -1.11942601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:0.75, Z:-1.12 [[ 9.99844801e-01 1.74787540e-02 2.20612554e-03 4.06139272e+01] [-1.74788578e-02 9.99847233e-01 2.77720120e-05 7.54813250e-01] [-2.20530310e-03 -6.63282566e-05 9.99997566e-01 -1.12032169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.65, Y:0.76, Z:-1.12 [[ 9.99862374e-01 1.64872672e-02 1.84456276e-03 4.06451429e+01] [-1.64873385e-02 9.99864074e-01 2.34260937e-05 7.55395333e-01] [-1.84392580e-03 -5.38348002e-05 9.99998299e-01 -1.12142187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.68, Y:0.76, Z:-1.12 [[ 9.99898541e-01 1.39450704e-02 2.90551371e-03 4.06766223e+01] [-1.39452219e-02 9.99902760e-01 3.18890952e-05 7.57088349e-01] [-2.90478648e-03 -7.24038932e-05 9.99995778e-01 -1.12160250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:0.76, Z:-1.12 [[ 9.99914105e-01 1.25660824e-02 3.72518544e-03 4.07086158e+01] [-1.25663311e-02 9.99921040e-01 4.33660587e-05 7.58331519e-01] [-3.72434635e-03 -9.01742472e-05 9.99993061e-01 -1.12288992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:0.76, Z:-1.12 [[ 9.99927852e-01 1.10987432e-02 4.59443529e-03 4.07406310e+01] [-1.10990994e-02 9.99938402e-01 5.20519486e-05 7.59624970e-01] [-4.59357457e-03 -1.03042287e-04 9.99989444e-01 -1.12355944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.77, Y:0.76, Z:-1.12 [[ 9.99941523e-01 9.85327916e-03 4.45679790e-03 4.07739635e+01] [-9.85359998e-03 9.99951451e-01 5.00295992e-05 7.60550813e-01] [-4.45608857e-03 -9.39421773e-05 9.99990067e-01 -1.12399154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.81, Y:0.76, Z:-1.13 [[ 9.99967010e-01 7.36246184e-03 3.43109890e-03 4.08068989e+01] [-7.36263904e-03 9.99972895e-01 3.90172761e-05 7.57470778e-01] [-3.43071863e-03 -6.42779316e-05 9.99994113e-01 -1.12568149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:0.76, Z:-1.13 [[ 9.99975549e-01 6.55054192e-03 2.44789803e-03 4.08393308e+01] [-6.55063100e-03 9.99978544e-01 2.83765066e-05 7.55536779e-01] [-2.44765962e-03 -4.44110894e-05 9.99997003e-01 -1.12702053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:0.76, Z:-1.13 [[ 9.99986792e-01 4.77069791e-03 1.91237797e-03 4.08703530e+01] [-4.77074373e-03 9.99988620e-01 1.93987780e-05 7.57496828e-01] [-1.91226366e-03 -2.85219870e-05 9.99998171e-01 -1.12695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:0.76, Z:-1.13 [[ 9.99983610e-01 4.63656784e-03 3.35899065e-03 4.09012536e+01] [-4.63671526e-03 9.99989250e-01 3.61026383e-05 7.59543238e-01] [-3.35878714e-03 -5.16767297e-05 9.99994358e-01 -1.12721957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.93, Y:0.76, Z:-1.13 [[ 9.99976120e-01 5.12339648e-03 4.63783733e-03 4.09329267e+01] [-5.12367438e-03 9.99986873e-01 4.80422082e-05 7.60665104e-01] [-4.63753031e-03 -7.18038293e-05 9.99989244e-01 -1.12776471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.96, Y:0.76, Z:-1.13 [[ 9.99967322e-01 5.88941355e-03 5.53800157e-03 4.09645777e+01] [-5.88981361e-03 9.99982653e-01 5.59323060e-05 7.60303794e-01] [-5.53757609e-03 -8.85482753e-05 9.99984664e-01 -1.12827321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:0.76, Z:-1.13 [[ 9.99950748e-01 7.44037083e-03 6.56835929e-03 4.09971674e+01] [-7.44095600e-03 9.99972314e-01 6.46560934e-05 7.57862357e-01] [-6.56769637e-03 -1.13527781e-04 9.99978426e-01 -1.12889562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:0.76, Z:-1.13 [[ 9.99938544e-01 8.13070267e-03 7.53658005e-03 4.10301894e+01] [-8.13147711e-03 9.99966936e-01 7.21212895e-05 7.57342640e-01] [-7.53574447e-03 -1.33400385e-04 9.99971597e-01 -1.12962436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:0.76, Z:-1.13 [[ 9.99930207e-01 9.12804236e-03 7.50065554e-03 4.10633110e+01] [-9.12882740e-03 9.99958329e-01 7.04328522e-05 7.57818686e-01] [-7.49970006e-03 -1.38900126e-04 9.99971867e-01 -1.13040154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.09, Y:0.76, Z:-1.13 [[ 9.99927966e-01 1.02066219e-02 6.31573941e-03 4.10949082e+01] [-1.02071954e-02 9.99947904e-01 5.85785239e-05 7.59067561e-01] [-6.31481249e-03 -1.23040291e-04 9.99980054e-01 -1.13109880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:0.76, Z:-1.13 [[ 9.99915514e-01 1.22341137e-02 4.39226289e-03 4.11275894e+01] [-1.22344135e-02 9.99925156e-01 4.13797971e-05 7.61868966e-01] [-4.39142791e-03 -9.51130614e-05 9.99990353e-01 -1.13242269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:0.76, Z:-1.13 [[ 9.99905669e-01 1.31835872e-02 3.85312762e-03 4.11596894e+01] [-1.31838232e-02 9.99913089e-01 3.58606750e-05 7.62426546e-01] [-3.85231997e-03 -8.66562455e-05 9.99992576e-01 -1.13312973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:0.76, Z:-1.13 [[ 9.99892452e-01 1.41662740e-02 3.79495232e-03 4.11916937e+01] [-1.41665071e-02 9.99899649e-01 3.45516816e-05 7.62273864e-01] [-3.79408202e-03 -8.83091845e-05 9.99992799e-01 -1.13353873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:0.76, Z:-1.14 [[ 9.99869763e-01 1.57324563e-02 3.59804028e-03 4.12242911e+01] [-1.57326747e-02 9.99876233e-01 3.23941358e-05 7.62537339e-01] [-3.59708533e-03 -8.89967141e-05 9.99993527e-01 -1.13525035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:0.76, Z:-1.14 [[ 9.99861177e-01 1.63727473e-02 3.09177608e-03 4.12551996e+01] [-1.63729072e-02 9.99865955e-01 2.64168003e-05 7.63207056e-01] [-3.09092913e-03 -7.70344960e-05 9.99995220e-01 -1.13645207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:0.76, Z:-1.14 [[ 9.99850391e-01 1.69855880e-02 3.26884756e-03 4.12866901e+01] [-1.69857722e-02 9.99855731e-01 2.85818465e-05 7.63604808e-01] [-3.26789048e-03 -8.41014702e-05 9.99994657e-01 -1.13788115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:0.76, Z:-1.14 [[ 9.99835471e-01 1.76182131e-02 4.31627140e-03 4.13185864e+01] [-1.76185335e-02 9.99844781e-01 3.62352107e-05 7.63380720e-01] [-4.31496304e-03 -1.12275621e-04 9.99990684e-01 -1.13885820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:0.76, Z:-1.14 [[ 9.99821073e-01 1.78444198e-02 6.27684285e-03 4.13508326e+01] [-1.78450798e-02 9.99840763e-01 4.91460874e-05 7.61584188e-01] [-6.27496636e-03 -1.61148055e-04 9.99980299e-01 -1.13878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:0.76, Z:-1.14 [[ 9.99822546e-01 1.77057327e-02 6.43306323e-03 4.13842145e+01] [-1.77064253e-02 9.99843228e-01 5.07232789e-05 7.61007777e-01] [-6.43115661e-03 -1.64620831e-04 9.99979306e-01 -1.13919698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.42, Y:0.76, Z:-1.14 [[ 9.99821078e-01 1.77884341e-02 6.43308479e-03 4.14177127e+01] [-1.77891092e-02 9.99841760e-01 4.77400969e-05 7.61110892e-01] [-6.43121760e-03 -1.62170403e-04 9.99979306e-01 -1.13996784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:0.76, Z:-1.14 [[ 9.99832368e-01 1.71513845e-02 6.40826804e-03 4.14496429e+01] [-1.71520479e-02 9.99852892e-01 4.85795424e-05 7.61883604e-01] [-6.40649212e-03 -1.58486320e-04 9.99979466e-01 -1.14102027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:0.76, Z:-1.14 [[ 9.99846741e-01 1.63394690e-02 6.28619145e-03 4.14813952e+01] [-1.63400847e-02 9.99866491e-01 4.65984096e-05 7.63302381e-01] [-6.28459079e-03 -1.49308169e-04 9.99980241e-01 -1.14212805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:0.76, Z:-1.14 [[ 9.99883758e-01 1.38135942e-02 6.45411868e-03 4.15147524e+01] [-1.38141839e-02 9.99904579e-01 4.68065105e-05 7.62125084e-01] [-6.45285626e-03 -1.35959452e-04 9.99979171e-01 -1.14281227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.55, Y:0.76, Z:-1.14 [[ 9.99898588e-01 1.27684907e-02 6.30704472e-03 4.15475964e+01] [-1.27690266e-02 9.99918472e-01 4.47018743e-05 7.59351012e-01] [-6.30595974e-03 -1.25232163e-04 9.99980109e-01 -1.14312378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.58, Y:0.76, Z:-1.14 [[ 9.99913018e-01 1.17268922e-02 6.03626580e-03 4.15792708e+01] [-1.17273571e-02 9.99931231e-01 4.16178205e-05 7.57233595e-01] [-6.03536265e-03 -1.12403645e-04 9.99981781e-01 -1.14342730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:0.76, Z:-1.14 [[ 9.99950974e-01 8.41159335e-03 5.22445585e-03 4.16122255e+01] [-8.41189542e-03 9.99964619e-01 3.58478405e-05 7.55293791e-01] [-5.22396946e-03 -7.97936592e-05 9.99986352e-01 -1.14474992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:0.75, Z:-1.15 [[ 9.99961835e-01 6.78320880e-03 5.50599159e-03 4.16455370e+01] [-6.78351299e-03 9.99976991e-01 3.65745908e-05 7.53479394e-01] [-5.50561681e-03 -7.39231604e-05 9.99984841e-01 -1.14567716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.68, Y:0.75, Z:-1.15 [[ 9.99964093e-01 5.75916568e-03 6.21649926e-03 4.16774520e+01] [-5.75952155e-03 9.99983413e-01 3.93454223e-05 7.51642744e-01] [-6.21616955e-03 -7.51480710e-05 9.99980677e-01 -1.14571159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.71, Y:0.75, Z:-1.15 [[ 9.99954470e-01 5.82845476e-03 7.55562522e-03 4.17101162e+01] [-5.82896665e-03 9.99983010e-01 4.57299331e-05 7.49824446e-01] [-7.55523032e-03 -8.97693385e-05 9.99971455e-01 -1.14562050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.74, Y:0.75, Z:-1.15 [[ 9.99946344e-01 7.37555617e-03 7.27398625e-03 4.17429387e+01] [-7.37606273e-03 9.99972796e-01 4.28151621e-05 7.48789639e-01] [-7.27347257e-03 -9.64662437e-05 9.99973543e-01 -1.14623953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:0.75, Z:-1.15 [[ 9.99934639e-01 9.35142353e-03 6.57787106e-03 4.17756102e+01] [-9.35187581e-03 9.99956270e-01 3.80028642e-05 7.47404327e-01] [-6.57722802e-03 -9.95158135e-05 9.99978365e-01 -1.14760491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:0.75, Z:-1.15 [[ 9.99915577e-01 1.16985519e-02 5.65527993e-03 4.18075224e+01] [-1.16989198e-02 9.99931565e-01 3.19805785e-05 7.46664098e-01] [-5.65451879e-03 -9.81385450e-05 9.99984008e-01 -1.14896986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.84, Y:0.75, Z:-1.15 [[ 9.99852937e-01 1.62677399e-02 5.42826049e-03 4.18405614e+01] [-1.62681425e-02 9.99867665e-01 3.00220095e-05 7.48385594e-01] [-5.42705375e-03 -1.18325310e-04 9.99985266e-01 -1.15077248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.87, Y:0.75, Z:-1.15 [[ 9.99809717e-01 1.86807133e-02 5.61795557e-03 4.18735599e+01] [-1.86811759e-02 9.99825491e-01 2.98767299e-05 7.49133997e-01] [-5.61641707e-03 -1.34821061e-04 9.99984219e-01 -1.15148083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:0.75, Z:-1.15 [[ 9.99769566e-01 2.07171834e-02 5.62253023e-03 4.19060720e+01] [-2.07176732e-02 9.99785366e-01 2.88840061e-05 7.49610030e-01] [-5.62072505e-03 -1.45363094e-04 9.99984193e-01 -1.15245935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:0.75, Z:-1.15 [[ 9.99741114e-01 2.22208002e-02 4.89300147e-03 4.19381656e+01] [-2.22211811e-02 9.99753079e-01 2.34958877e-05 7.49586916e-01] [-4.89127118e-03 -1.32218077e-04 9.99988029e-01 -1.15343659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:0.75, Z:-1.16 [[ 9.99711059e-01 2.37992088e-02 3.37578705e-03 4.19709987e+01] [-2.37994052e-02 9.99716754e-01 1.80092862e-05 7.50767362e-01] [-3.37440227e-03 -9.83458065e-05 9.99994302e-01 -1.15503293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:0.75, Z:-1.16 [[ 9.99708839e-01 2.39267734e-02 3.12213195e-03 4.20035235e+01] [-2.39269398e-02 9.99713710e-01 1.59336339e-05 7.51406362e-01] [-3.12085687e-03 -9.06320578e-05 9.99995126e-01 -1.15594594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:0.75, Z:-1.16 [[ 9.99707433e-01 2.37821655e-02 4.41109309e-03 4.20347109e+01] [-2.37824852e-02 9.99717156e-01 2.00190614e-05 7.52516845e-01] [-4.40936935e-03 -1.24919961e-04 9.99990271e-01 -1.15522532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:0.75, Z:-1.16 [[ 9.99704918e-01 2.38789881e-02 4.45760740e-03 4.20672127e+01] [-2.38793134e-02 9.99714848e-01 1.97666574e-05 7.53867002e-01] [-4.45586430e-03 -1.26205429e-04 9.99990065e-01 -1.15570220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:0.75, Z:-1.16 [[ 9.99707754e-01 2.39199615e-02 3.49879551e-03 4.20998554e+01] [-2.39201652e-02 9.99713872e-01 1.63788860e-05 7.54490960e-01] [-3.49740262e-03 -1.00065866e-04 9.99993879e-01 -1.15684747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:0.75, Z:-1.16 [[ 9.99704059e-01 2.41933564e-02 2.54488984e-03 4.21307183e+01] [-2.41934650e-02 9.99707295e-01 1.18614022e-05 7.54210417e-01] [-2.54385797e-03 -7.34275952e-05 9.99996762e-01 -1.15806150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:0.76, Z:-1.16 [[ 9.99717144e-01 2.35105327e-02 3.58981405e-03 4.21618524e+01] [-2.35107275e-02 9.99723585e-01 1.20772523e-05 7.56543190e-01] [-3.58853783e-03 -9.64729760e-05 9.99993557e-01 -1.15859981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.19, Y:0.76, Z:-1.16 [[ 9.99724656e-01 2.29562503e-02 4.86026133e-03 4.21931335e+01] [-2.29566108e-02 9.99736462e-01 1.83902454e-05 7.58832701e-01] [-4.85855829e-03 -1.29960310e-04 9.99988189e-01 -1.15925814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:0.76, Z:-1.16 [[ 9.99740183e-01 2.21168665e-02 5.51460406e-03 4.22252647e+01] [-2.21173125e-02 9.99755382e-01 1.99005576e-05 7.60282372e-01] [-5.51281495e-03 -1.41863608e-04 9.99984794e-01 -1.16003377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:0.76, Z:-1.16 [[ 9.99765298e-01 2.09648431e-02 5.46119635e-03 4.22578968e+01] [-2.09652596e-02 9.99780205e-01 1.90241921e-05 7.60780040e-01] [-5.45959717e-03 -1.33515127e-04 9.99985087e-01 -1.16108091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:0.76, Z:-1.16 [[ 9.99833648e-01 1.74961300e-02 5.15378985e-03 4.22905305e+01] [-1.74964516e-02 9.99846925e-01 1.73043328e-05 7.60588019e-01] [-5.15269818e-03 -1.07474489e-04 9.99986719e-01 -1.16187724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:0.76, Z:-1.16 [[ 9.99858939e-01 1.58497628e-02 5.55756874e-03 4.23227171e+01] [-1.58500965e-02 9.99874379e-01 1.60125207e-05 7.60368590e-01] [-5.55661680e-03 -1.04098263e-04 9.99984556e-01 -1.16269157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:0.76, Z:-1.16 [[ 9.99874167e-01 1.44024913e-02 6.64967947e-03 4.23558800e+01] [-1.44029369e-02 9.99896272e-01 1.91154038e-05 7.60144867e-01] [-6.64871441e-03 -1.14887912e-04 9.99977890e-01 -1.16367355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:0.76, Z:-1.16 [[ 9.99901040e-01 1.20265955e-02 7.29873895e-03 4.23876884e+01] [-1.20270468e-02 9.99927672e-01 1.79410516e-05 7.59752065e-01] [-7.29799528e-03 -1.05721551e-04 9.99973364e-01 -1.16469993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:0.76, Z:-1.17 [[ 9.99917894e-01 1.11845343e-02 6.25393820e-03 4.24209588e+01] [-1.11848537e-02 9.99937447e-01 1.60872154e-05 7.59221237e-01] [-6.25336707e-03 -8.60352781e-05 9.99980444e-01 -1.16565884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.45, Y:0.76, Z:-1.17 [[ 9.99929113e-01 1.05044481e-02 5.60576416e-03 4.24541568e+01] [-1.05046907e-02 9.99944824e-01 1.38274418e-05 7.58489969e-01] [-5.60530961e-03 -7.27132802e-05 9.99984287e-01 -1.16681998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:0.76, Z:-1.17 [[ 9.99932876e-01 1.01652317e-02 5.55974691e-03 4.24866981e+01] [-1.01654595e-02 9.99948330e-01 1.27214689e-05 7.57187467e-01] [-5.55933032e-03 -6.92379970e-05 9.99984544e-01 -1.16791886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:0.76, Z:-1.17 [[ 9.99942188e-01 1.00918502e-02 3.71136625e-03 4.25193382e+01] [-1.00919541e-02 9.99949075e-01 9.25973802e-06 7.55237878e-01] [-3.71108380e-03 -4.67141405e-05 9.99993113e-01 -1.16892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:0.75, Z:-1.17 [[ 9.99940266e-01 1.05714039e-02 2.77678283e-03 4.25511186e+01] [-1.05714648e-02 9.99944120e-01 7.24912182e-06 7.54861819e-01] [-2.77655103e-03 -3.66033507e-05 9.99996145e-01 -1.16954765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:0.75, Z:-1.17 [[ 9.99933448e-01 1.12981579e-02 2.33498939e-03 4.25832101e+01] [-1.12982027e-02 9.99936173e-01 6.02191542e-06 7.54566250e-01] [-2.33477232e-03 -3.24026982e-05 9.99997274e-01 -1.17053487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:0.75, Z:-1.17 [[ 9.99921648e-01 1.22812191e-02 2.42266344e-03 4.26143904e+01] [-1.22812621e-02 9.99924582e-01 2.85702081e-06 7.54433431e-01] [-2.42244564e-03 -3.26101616e-05 9.99997065e-01 -1.17158949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:0.75, Z:-1.17 [[ 9.99893273e-01 1.44258779e-02 2.31028978e-03 4.26459902e+01] [-1.44259227e-02 9.99895941e-01 2.69557875e-06 7.52377482e-01] [-2.31001049e-03 -3.60233528e-05 9.99997331e-01 -1.17199434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:0.75, Z:-1.17 [[ 9.99873222e-01 1.57744913e-02 2.16897239e-03 4.26769010e+01] [-1.57745338e-02 9.99875574e-01 2.51099105e-06 7.50766044e-01] [-2.16866290e-03 -3.67252010e-05 9.99997648e-01 -1.17190899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.71, Y:0.75, Z:-1.17 [[ 9.99835226e-01 1.80146936e-02 2.23438677e-03 4.27082533e+01] [-1.80147442e-02 9.99837721e-01 2.54098273e-06 7.50335703e-01] [-2.23397840e-03 -4.27924702e-05 9.99997504e-01 -1.17197638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:0.75, Z:-1.17 [[ 9.99708576e-01 2.39393190e-02 3.10997303e-03 4.27395473e+01] [-2.39394448e-02 9.99713410e-01 3.23774078e-06 7.53657993e-01] [-3.10900424e-03 -7.76878249e-05 9.99995164e-01 -1.17282311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:0.76, Z:-1.17 [[ 9.99617590e-01 2.73489824e-02 4.08737657e-03 4.27715919e+01] [-2.73492384e-02 9.99625940e-01 6.74201962e-06 7.55401230e-01] [-4.08566326e-03 -1.18526078e-04 9.99991647e-01 -1.17381273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:0.76, Z:-1.17 [[ 9.99520154e-01 3.05225525e-02 5.27593678e-03 4.28030563e+01] [-3.05230112e-02 9.99534064e-01 6.43661716e-06 7.56430983e-01] [-5.27328207e-03 -1.67471006e-04 9.99986082e-01 -1.17451716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:0.76, Z:-1.18 [[ 9.99424210e-01 3.33830139e-02 6.06814837e-03 4.28353224e+01] [-3.33836604e-02 9.99442610e-01 5.26279118e-06 7.57799634e-01] [-6.06459036e-03 -2.07836765e-04 9.99981589e-01 -1.17526226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:0.76, Z:-1.18 [[ 9.99253744e-01 3.80445619e-02 6.67577034e-03 4.28684511e+01] [-3.80454483e-02 9.99276010e-01 5.78751457e-06 7.64084683e-01] [-6.67071696e-03 -2.59765871e-04 9.99977717e-01 -1.17649426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:0.77, Z:-1.18 [[ 9.99213196e-01 3.91902867e-02 6.09184562e-03 4.29012410e+01] [-3.91910420e-02 9.99231736e-01 4.61752585e-06 7.66453395e-01] [-6.08698451e-03 -2.43359670e-04 9.99981445e-01 -1.17795107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:42.93, Y:0.77, Z:-1.18 [[ 9.99217695e-01 3.92571156e-02 4.78295569e-03 4.29332421e+01] [-3.92575802e-02 9.99229124e-01 3.25657560e-06 7.68431562e-01] [-4.77914078e-03 -1.91021295e-04 9.99988562e-01 -1.17865084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:0.77, Z:-1.18 [[ 9.99319490e-01 3.66157183e-02 4.45489511e-03 4.29642164e+01] [-3.66160920e-02 9.99329406e-01 2.31793488e-06 7.72541506e-01] [-4.45182281e-03 -1.65437207e-04 9.99990077e-01 -1.18065085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:0.77, Z:-1.18 [[ 9.99393423e-01 3.44907508e-02 4.81392463e-03 4.29960339e+01] [-3.44911459e-02 9.99405003e-01 -9.42077958e-07 7.74809853e-01] [-4.81109285e-03 -1.65096270e-04 9.99988413e-01 -1.18104579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:0.78, Z:-1.18 [[ 9.99445305e-01 3.29045995e-02 5.13514052e-03 4.30282984e+01] [-3.29050402e-02 9.99458483e-01 1.33913084e-06 7.76980473e-01] [-5.13231569e-03 -1.70310393e-04 9.99986815e-01 -1.18120593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:0.78, Z:-1.18 [[ 9.99490667e-01 3.14763476e-02 5.25793798e-03 4.30594139e+01] [-3.14767784e-02 9.99504483e-01 -8.19824574e-07 7.79213433e-01] [-5.25535839e-03 -1.64683541e-04 9.99986177e-01 -1.18159686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:0.79, Z:-1.18 [[ 9.99580044e-01 2.84197106e-02 5.66169487e-03 4.30915622e+01] [-2.84201647e-02 9.99596066e-01 -2.52251029e-07 7.85387102e-01] [-5.65941509e-03 -1.60654155e-04 9.99983972e-01 -1.18240376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.12, Y:0.79, Z:-1.18 [[ 9.99606694e-01 2.72421436e-02 6.65754759e-03 4.31239964e+01] [-2.72427346e-02 9.99628848e-01 -1.91450422e-06 7.88668209e-01] [-6.65512878e-03 -1.79456051e-04 9.99977838e-01 -1.18294792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.16, Y:0.79, Z:-1.18 [[ 9.99630250e-01 2.61151335e-02 7.57389767e-03 4.31562566e+01] [-2.61158439e-02 9.99658923e-01 -5.10501851e-06 7.91392209e-01] [-7.57144771e-03 -1.92695598e-04 9.99971318e-01 -1.18348924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:0.80, Z:-1.18 [[ 9.99704006e-01 2.34153530e-02 6.60463109e-03 4.31893994e+01] [-2.34158390e-02 9.99725812e-01 -3.75503644e-06 7.97598743e-01] [-6.60290810e-03 -1.50899053e-04 9.99978189e-01 -1.18395642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:0.80, Z:-1.18 [[ 9.99739344e-01 2.19474817e-02 6.28901063e-03 4.32220126e+01] [-2.19478872e-02 9.99759116e-01 -4.54816357e-06 8.00374068e-01] [-6.28759553e-03 -1.33483518e-04 9.99980224e-01 -1.18486333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.26, Y:0.80, Z:-1.19 [[ 9.99764849e-01 2.06576279e-02 6.59618038e-03 4.32553771e+01] [-2.06580365e-02 9.99786600e-01 -6.18780823e-06 8.02719054e-01] [-6.59490058e-03 -1.30077782e-04 9.99978245e-01 -1.18591353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:0.80, Z:-1.19 [[ 9.99778426e-01 1.99107819e-02 6.83078767e-03 4.32887478e+01] [-1.99111929e-02 9.99801753e-01 -7.84036974e-06 8.04731156e-01] [-6.82958959e-03 -1.28170498e-04 9.99976670e-01 -1.18664158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:0.81, Z:-1.19 [[ 9.99778881e-01 1.94880741e-02 7.89963158e-03 4.33214026e+01] [-1.94885952e-02 9.99810079e-01 -1.10230544e-05 8.10369190e-01] [-7.89834609e-03 -1.42932105e-04 9.99968797e-01 -1.18634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:0.81, Z:-1.19 [[ 9.99771641e-01 1.95301589e-02 8.67402583e-03 4.33531010e+01] [-1.95307682e-02 9.99809256e-01 -1.44653822e-05 8.13565134e-01] [-8.67265382e-03 -1.54948309e-04 9.99962380e-01 -1.18732820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:0.82, Z:-1.19 [[ 9.99775265e-01 1.94464683e-02 8.44122364e-03 4.33854188e+01] [-1.94470297e-02 9.99810889e-01 -1.55696673e-05 8.15477982e-01] [-8.43993008e-03 -1.48590559e-04 9.99964372e-01 -1.18787276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:0.82, Z:-1.19 [[ 9.99790366e-01 1.89660466e-02 7.71448891e-03 4.34178902e+01] [-1.89664926e-02 9.99820120e-01 -1.53597233e-05 8.20242411e-01] [-7.71339254e-03 -1.30960293e-04 9.99970243e-01 -1.18814941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.45, Y:0.82, Z:-1.19 [[ 9.99788888e-01 1.90437723e-02 7.71448191e-03 4.34513931e+01] [-1.90441988e-02 9.99818643e-01 -1.81692372e-05 8.20009860e-01] [-7.71342884e-03 -1.28750726e-04 9.99970243e-01 -1.18892013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:0.82, Z:-1.19 [[ 9.99784293e-01 1.90937571e-02 8.17289313e-03 4.34845799e+01] [-1.90942454e-02 9.99817688e-01 -1.82815116e-05 8.23518950e-01] [-8.17175217e-03 -1.37777659e-04 9.99966601e-01 -1.18919895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:0.83, Z:-1.19 [[ 9.99773043e-01 1.92265998e-02 9.17603195e-03 4.35167915e+01] [-1.92271981e-02 9.99815140e-01 -2.30188364e-05 8.25891157e-01] [-9.17477824e-03 -1.53415772e-04 9.99957899e-01 -1.18991109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:0.83, Z:-1.19 [[ 9.99771485e-01 1.90394887e-02 9.71986805e-03 4.35493607e+01] [-1.90401335e-02 9.99818720e-01 -2.62000671e-05 8.27148212e-01] [-9.71860487e-03 -1.58873506e-04 9.99952761e-01 -1.19022697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.58, Y:0.83, Z:-1.19 [[ 9.99772478e-01 1.86512257e-02 1.03500375e-02 4.35815657e+01] [-1.86519029e-02 9.99826038e-01 -3.11080138e-05 8.28269296e-01] [-1.03488172e-02 -1.61946959e-04 9.99946436e-01 -1.19098552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.61, Y:0.83, Z:-1.19 [[ 9.99777197e-01 1.85621010e-02 1.00501506e-02 4.36149204e+01] [-1.85627329e-02 9.99827697e-01 -3.04146016e-05 8.28526413e-01] [-1.00489835e-02 -1.56150436e-04 9.99949495e-01 -1.19179313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:0.83, Z:-1.19 [[ 9.99781658e-01 1.83541899e-02 9.98800501e-03 4.36465372e+01] [-1.83547831e-02 9.99831536e-01 -3.22803015e-05 8.28725348e-01] [-9.98691487e-03 -1.51054412e-04 9.99950118e-01 -1.19255549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:0.83, Z:-1.19 [[ 9.99789071e-01 1.80159620e-02 9.86096452e-03 4.36799126e+01] [-1.80165089e-02 9.99837689e-01 -3.33815449e-05 8.29607348e-01] [-9.85996538e-03 -1.44285651e-04 9.99951379e-01 -1.19320133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:0.83, Z:-1.19 [[ 9.99816623e-01 1.69958534e-02 8.82385887e-03 4.37133309e+01] [-1.69962403e-02 9.99855553e-01 -3.11435119e-05 8.33906242e-01] [-8.82311360e-03 -1.18834625e-04 9.99961069e-01 -1.19422730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:0.84, Z:-1.20 [[ 9.99820603e-01 1.71636531e-02 8.01060787e-03 4.37450935e+01] [-1.71639667e-02 9.99852688e-01 -2.96043835e-05 8.35206602e-01] [-8.00993593e-03 -1.07894734e-04 9.99967914e-01 -1.19547675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:0.84, Z:-1.20 [[ 9.99824046e-01 1.73405944e-02 7.15408521e-03 4.37779950e+01] [-1.73408448e-02 9.99849636e-01 -2.70407422e-05 8.35027998e-01] [-7.15347839e-03 -9.70218967e-05 9.99974409e-01 -1.19679920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:0.83, Z:-1.20 [[ 9.99810802e-01 1.82283482e-02 6.78876048e-03 4.38097659e+01] [-1.82285851e-02 9.99833845e-01 -2.69806386e-05 8.33831296e-01] [-6.78812430e-03 -9.67739644e-05 9.99976956e-01 -1.19711412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.84, Y:0.83, Z:-1.20 [[ 9.99794136e-01 1.88501444e-02 7.50720184e-03 4.38419200e+01] [-1.88504380e-02 9.99822314e-01 -3.16584823e-05 8.34326022e-01] [-7.50646469e-03 -1.09862078e-04 9.99971820e-01 -1.19756845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.87, Y:0.84, Z:-1.20 [[ 9.99781516e-01 1.92581490e-02 8.12679233e-03 4.38749050e+01] [-1.92584928e-02 9.99814537e-01 -3.59633571e-05 8.35753981e-01] [-8.12597770e-03 -1.20554272e-04 9.99966976e-01 -1.19797898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:0.84, Z:-1.20 [[ 9.99769752e-01 1.96951737e-02 8.51718773e-03 4.39079122e+01] [-1.96955518e-02 9.99806023e-01 -3.94923505e-05 8.36879172e-01] [-8.51631340e-03 -1.28267454e-04 9.99963727e-01 -1.19881534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:0.84, Z:-1.20 [[ 9.99763820e-01 2.03446329e-02 7.64204585e-03 4.39401674e+01] [-2.03449472e-02 9.99793019e-01 -3.66207034e-05 8.37513847e-01] [-7.64120913e-03 -1.18864965e-04 9.99970798e-01 -1.20050155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.97, Y:0.84, Z:-1.20 [[ 9.99748506e-01 2.11488229e-02 7.46001031e-03 4.39734522e+01] [-2.11491370e-02 9.99776331e-01 -3.67909606e-05 8.37045847e-01] [-7.45911982e-03 -1.20991072e-04 9.99972173e-01 -1.20139404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:0.84, Z:-1.20 [[ 9.99726401e-01 2.20353817e-02 7.84632447e-03 4.40057302e+01] [-2.20357405e-02 9.99757183e-01 -4.07365047e-05 8.37008280e-01] [-7.84531689e-03 -1.32174210e-04 9.99969216e-01 -1.20174553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:0.84, Z:-1.20 [[ 9.99700037e-01 2.30815506e-02 8.19006370e-03 4.40378333e+01] [-2.30819654e-02 9.99733575e-01 -4.38778159e-05 8.37935075e-01] [-8.18889443e-03 -1.45178113e-04 9.99966460e-01 -1.20193463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:0.84, Z:-1.20 [[ 9.99652434e-01 2.50398075e-02 8.24743536e-03 4.40698895e+01] [-2.50402823e-02 9.99686442e-01 -4.57011274e-05 8.41083501e-01] [-8.24599366e-03 -1.60832866e-04 9.99965988e-01 -1.20220566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.10, Y:0.84, Z:-1.20 [[ 9.99629289e-01 2.60344072e-02 7.96835865e-03 4.41016474e+01] [-2.60348716e-02 9.99661034e-01 -4.54656941e-05 8.42386266e-01] [-7.96684133e-03 -1.62006355e-04 9.99968251e-01 -1.20281396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.13, Y:0.84, Z:-1.20 [[ 9.99608314e-01 2.69963532e-02 7.37671251e-03 4.41342445e+01] [-2.69967702e-02 9.99635520e-01 -4.30593073e-05 8.44238807e-01] [-7.37518629e-03 -1.56104971e-04 9.99972791e-01 -1.20396902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:0.85, Z:-1.21 [[ 9.99565487e-01 2.89882102e-02 5.34057034e-03 4.41654739e+01] [-2.89884569e-02 9.99579746e-01 -3.12335773e-05 8.49547861e-01] [-5.33923135e-03 -1.23594887e-04 9.99985739e-01 -1.20607163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:0.85, Z:-1.21 [[ 9.99555427e-01 2.94897716e-02 4.39345332e-03 4.41960075e+01] [-2.94899304e-02 9.99565077e-01 -2.86451592e-05 8.51265415e-01] [-4.39238724e-03 -1.00930208e-04 9.99990348e-01 -1.20777077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.23, Y:0.85, Z:-1.21 [[ 9.99557658e-01 2.94910289e-02 3.84288224e-03 4.42252401e+01] [-2.94911495e-02 9.99565041e-01 -2.52829939e-05 8.51936545e-01] [-3.84195637e-03 -8.80592044e-05 9.99992616e-01 -1.20887785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.26, Y:0.86, Z:-1.21 [[ 9.99626318e-01 2.68427041e-02 5.16664552e-03 4.42556395e+01] [-2.68428887e-02 9.99639664e-01 -3.36249815e-05 8.55610879e-01] [-5.16568637e-03 -1.05075274e-04 9.99986652e-01 -1.20929811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.29, Y:0.86, Z:-1.21 [[ 9.99679436e-01 2.47313255e-02 5.42087422e-03 4.42853805e+01] [-2.47314965e-02 9.99694129e-01 -3.54894717e-05 8.58481467e-01] [-5.42009383e-03 -9.85882367e-05 9.99985306e-01 -1.20907484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.32, Y:0.86, Z:-1.21 [[ 9.99743878e-01 2.18818750e-02 5.77598302e-03 4.43155967e+01] [-2.18820233e-02 9.99760559e-01 -3.75216275e-05 8.61049939e-01] [-5.77542105e-03 -8.88781776e-05 9.99983318e-01 -1.20940869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:0.86, Z:-1.21 [[ 9.99804566e-01 1.86061049e-02 6.68145558e-03 4.43455232e+01] [-1.86062316e-02 9.99826888e-01 -4.32053260e-05 8.62367021e-01] [-6.68110282e-03 -8.11198275e-05 9.99977678e-01 -1.20944395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:0.86, Z:-1.21 [[ 9.99874918e-01 1.26986625e-02 9.42828023e-03 4.43776334e+01] [-1.26986697e-02 9.99919367e-01 -5.90977933e-05 8.63883363e-01] [-9.42827046e-03 -6.06362155e-05 9.99955551e-01 -1.20869029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.41, Y:0.86, Z:-1.21 [[ 9.99896671e-01 1.03575494e-02 9.96838384e-03 4.44092923e+01] [-1.03574238e-02 9.99946358e-01 -6.42297973e-05 8.64716936e-01] [-9.96851438e-03 -3.90236155e-05 9.99950312e-01 -1.20887375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382200001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:44.44, Y:0.86, Z:-1.21 [[ 9.99917325e-01 8.59772477e-03 9.56146868e-03 4.44411513e+01] [-8.59751385e-03 9.99963039e-01 -6.31633269e-05 8.63740141e-01] [-9.56165833e-03 -1.90467545e-05 9.99954286e-01 -1.21028322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.47, Y:0.86, Z:-1.21 [[ 9.99934933e-01 7.41820197e-03 8.66599128e-03 4.44742258e+01] [-7.41797588e-03 9.99972485e-01 -5.82323010e-05 8.61545319e-01] [-8.66618481e-03 -6.05560225e-06 9.99962448e-01 -1.21159962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:44.51, Y:0.86, Z:-1.21 [[ 9.99928315e-01 7.01593881e-03 9.70262495e-03 4.45072491e+01] [-7.01561478e-03 9.99975388e-01 -6.74313312e-05 8.60272026e-01] [-9.70285925e-03 -6.43381704e-07 9.99952926e-01 -1.21216375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.54, Y:0.86, Z:-1.21 [[ 9.99911996e-01 8.04379752e-03 1.05497852e-02 4.45396276e+01] [-8.04344444e-03 9.99967648e-01 -7.58978186e-05 8.60199586e-01] [-1.05500544e-02 -8.96547148e-06 9.99944347e-01 -1.21199269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:0.86, Z:-1.21 [[ 9.99882428e-01 1.17107896e-02 9.89888988e-03 4.45718041e+01] [-1.17106430e-02 9.99931425e-01 -7.27746811e-05 8.60749185e-01] [-9.89906332e-03 -4.31562403e-05 9.99951002e-01 -1.21209015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.61, Y:0.86, Z:-1.21 [[ 9.99855655e-01 1.41301295e-02 9.43444685e-03 4.46051381e+01] [-1.41300915e-02 9.99900163e-01 -7.06789184e-05 8.61007140e-01] [-9.43450365e-03 -6.26408814e-05 9.99955492e-01 -1.21296817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.64, Y:0.86, Z:-1.21 [[ 9.99817237e-01 1.66063761e-02 9.47207712e-03 4.46371265e+01] [-1.66064303e-02 9.99862101e-01 -7.29403438e-05 8.60892854e-01] [-9.47198221e-03 -8.43703753e-05 9.99955136e-01 -1.21355732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.67, Y:0.86, Z:-1.21 [[ 9.99773514e-01 1.88200001e-02 9.93618230e-03 4.46693271e+01] [-1.88201496e-02 9.99822882e-01 -7.84639236e-05 8.60890030e-01] [-9.93589912e-03 -1.08554285e-04 9.99950632e-01 -1.21442332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:0.86, Z:-1.22 [[ 9.99716007e-01 2.18177888e-02 9.58591889e-03 4.47024410e+01] [-2.18180529e-02 9.99761955e-01 -7.70296334e-05 8.60918009e-01] [-9.58531762e-03 -1.32138328e-04 9.99954051e-01 -1.21537980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:0.86, Z:-1.22 [[ 9.99698561e-01 2.28887992e-02 8.88195705e-03 4.47342197e+01] [-2.28890547e-02 9.99738009e-01 -7.28998526e-05 8.60651452e-01] [-8.88129865e-03 -1.30421723e-04 9.99960552e-01 -1.21648892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.77, Y:0.86, Z:-1.22 [[ 9.99677924e-01 2.39170794e-02 8.48658030e-03 4.47665537e+01] [-2.39173368e-02 9.99713937e-01 -7.11664463e-05 8.60002031e-01] [-8.48585470e-03 -1.31832874e-04 9.99963986e-01 -1.21739844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:0.86, Z:-1.22 [[ 9.99655380e-01 2.48461788e-02 8.47283618e-03 4.47973722e+01] [-2.48464572e-02 9.99691277e-01 -7.24271420e-05 8.58980417e-01] [-8.47201996e-03 -1.38117779e-04 9.99964102e-01 -1.21820608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:0.86, Z:-1.22 [[ 9.99639525e-01 2.55238473e-02 8.32785904e-03 4.48297270e+01] [-2.55241291e-02 9.99674204e-01 -7.24486812e-05 8.57540159e-01] [-8.32699503e-03 -1.40138785e-04 9.99965320e-01 -1.21889391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.86, Y:0.86, Z:-1.22 [[ 9.99638662e-01 2.56522025e-02 8.03175212e-03 4.48618446e+01] [-2.56524595e-02 9.99670919e-01 -7.10414498e-05 8.57124374e-01] [-8.03093139e-03 -1.35018416e-04 9.99967742e-01 -1.21890209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.89, Y:0.86, Z:-1.22 [[ 9.99631771e-01 2.59039832e-02 8.08116229e-03 4.48927424e+01] [-2.59042393e-02 9.99664426e-01 -7.29931361e-05 8.57288870e-01] [-8.08034128e-03 -1.36370104e-04 9.99967344e-01 -1.21963897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.92, Y:0.86, Z:-1.22 [[ 9.99645866e-01 2.52975602e-02 8.25693606e-03 4.49242991e+01] [-2.52977808e-02 9.99679957e-01 -7.77409013e-05 8.57304518e-01] [-8.25626014e-03 -1.31168788e-04 9.99965908e-01 -1.22015591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.96, Y:0.86, Z:-1.22 [[ 9.99663501e-01 2.43402085e-02 8.96875912e-03 4.49559370e+01] [-2.43404367e-02 9.99703724e-01 -8.37213742e-05 8.56941718e-01] [-8.96813969e-03 -1.34610312e-04 9.99959776e-01 -1.22124396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:0.86, Z:-1.22 [[ 9.99688241e-01 2.33797179e-02 8.76405705e-03 4.49883801e+01] [-2.33799016e-02 9.99726649e-01 -8.15132928e-05 8.56436512e-01] [-8.76356715e-03 -1.23414911e-04 9.99961592e-01 -1.22189625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.02, Y:0.86, Z:-1.22 [[ 9.99712133e-01 2.25149651e-02 8.29021988e-03 4.50199982e+01] [-2.25150894e-02 9.99746500e-01 -7.83551877e-05 8.55991354e-01] [-8.28988247e-03 -1.08322409e-04 9.99965632e-01 -1.22311158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.05, Y:0.85, Z:-1.22 [[ 9.99730535e-01 2.18616700e-02 7.80546429e-03 4.50523270e+01] [-2.18617520e-02 9.99761001e-01 -7.48190395e-05 8.54707365e-01] [-7.80523446e-03 -9.58422464e-05 9.99969534e-01 -1.22446841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.08, Y:0.85, Z:-1.23 [[ 9.99765242e-01 2.02836128e-02 7.61808621e-03 4.50836762e+01] [-2.02836344e-02 9.99794263e-01 -7.44227296e-05 8.51402412e-01] [-7.61802845e-03 -8.01172175e-05 9.99970979e-01 -1.22551316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:0.85, Z:-1.23 [[ 9.99771986e-01 2.00615766e-02 7.31501233e-03 4.51159047e+01] [-2.00615836e-02 9.99798744e-01 -7.24316318e-05 8.49566422e-01] [-7.31499323e-03 -7.43356150e-05 9.99973242e-01 -1.22574862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.15, Y:0.85, Z:-1.23 [[ 9.99763482e-01 2.04005353e-02 7.53641554e-03 4.51482487e+01] [-2.04005424e-02 9.99791884e-01 -7.59382588e-05 8.49021707e-01] [-7.53639627e-03 -7.78266665e-05 9.99971598e-01 -1.22593131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.18, Y:0.85, Z:-1.23 [[ 9.99697928e-01 2.27416412e-02 9.32043620e-03 4.51806037e+01] [-2.27417323e-02 9.99741369e-01 -9.62242103e-05 8.53485511e-01] [-9.32021394e-03 -1.15767721e-04 9.99956559e-01 -1.22504676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.21, Y:0.86, Z:-1.23 [[ 9.99651005e-01 2.45041344e-02 9.86992759e-03 4.52127058e+01] [-2.45043058e-02 9.99699719e-01 -1.03583698e-04 8.56403290e-01] [-9.86950207e-03 -1.38308176e-04 9.99951286e-01 -1.22534945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.24, Y:0.86, Z:-1.23 [[ 9.99598785e-01 2.61080571e-02 1.09835091e-02 4.52448678e+01] [-2.61083400e-02 9.99659112e-01 -1.17649993e-04 8.58436224e-01] [-1.09828366e-02 -1.69158400e-04 9.99939673e-01 -1.22576010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:0.86, Z:-1.23 [[ 9.99555522e-01 2.71584114e-02 1.22955190e-02 4.52775073e+01] [-2.71588162e-02 9.99631122e-01 -1.34079717e-04 8.58001689e-01] [-1.22946248e-02 -1.99911618e-04 9.99924398e-01 -1.22694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.31, Y:0.86, Z:-1.23 [[ 9.99573603e-01 2.68817111e-02 1.14011263e-02 4.53109509e+01] [-2.68820210e-02 9.99638605e-01 -1.26089028e-04 8.57006108e-01] [-1.14003955e-02 -1.80450053e-04 9.99934997e-01 -1.22816089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:0.86, Z:-1.23 [[ 9.99596703e-01 2.65634441e-02 1.00406945e-02 4.53426779e+01] [-2.65636527e-02 9.99647118e-01 -1.12612254e-04 8.57083069e-01] [-1.00401427e-02 -1.54150684e-04 9.99949585e-01 -1.22945454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:0.86, Z:-1.23 [[ 9.99623502e-01 2.60191095e-02 8.70983013e-03 4.53750177e+01] [-2.60192362e-02 9.99661437e-01 -9.87814663e-05 8.58188501e-01] [-8.70945151e-03 -1.27878852e-04 9.99962064e-01 -1.23030385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:0.86, Z:-1.23 [[ 9.99653573e-01 2.50347684e-02 8.12367474e-03 4.54075402e+01] [-2.50348363e-02 9.99686575e-01 -9.33518680e-05 8.59720885e-01] [-8.12346562e-03 -1.10055339e-04 9.99966998e-01 -1.23167226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:0.86, Z:-1.23 [[ 9.99721381e-01 2.18884190e-02 8.83505857e-03 4.54382848e+01] [-2.18883586e-02 9.99760416e-01 -1.03543797e-04 8.61487717e-01] [-8.83520824e-03 -8.98699823e-05 9.99960965e-01 -1.23283522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:0.86, Z:-1.23 [[ 9.99744670e-01 2.05503916e-02 9.39552750e-03 4.54706940e+01] [-2.05502507e-02 9.99788815e-01 -1.11545450e-04 8.60777385e-01] [-9.39583561e-03 -8.15634764e-05 9.99955855e-01 -1.23285494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.50, Y:0.86, Z:-1.23 [[ 9.99743463e-01 2.06090318e-02 9.39548744e-03 4.55033609e+01] [-2.06088629e-02 9.99787608e-01 -1.14803350e-04 8.60282890e-01] [-9.39585790e-03 -7.88564137e-05 9.99955855e-01 -1.23360623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:0.86, Z:-1.23 [[ 9.99794166e-01 1.73233474e-02 1.05606051e-02 4.55368591e+01] [-1.73229595e-02 9.99849938e-01 -1.28207929e-04 8.59656662e-01] [-1.05612414e-02 -5.47593959e-05 9.99944227e-01 -1.23436455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:0.86, Z:-1.24 [[ 9.99826927e-01 1.51959695e-02 1.07330162e-02 4.55690372e+01] [-1.51954145e-02 9.99884534e-01 -1.33264602e-04 8.58890626e-01] [-1.07338020e-02 -2.98510922e-05 9.99942391e-01 -1.23504451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.60, Y:0.86, Z:-1.24 [[ 9.99858027e-01 1.31260423e-02 1.05656900e-02 4.56006980e+01] [-1.31253758e-02 9.99913850e-01 -1.32426451e-04 8.58250137e-01] [-1.05665180e-02 -6.27100099e-06 9.99944173e-01 -1.23586644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.63, Y:0.86, Z:-1.24 [[ 9.99883948e-01 1.15275283e-02 9.96022053e-03 4.56340557e+01] [-1.15268570e-02 9.99933556e-01 -1.24802755e-04 8.57379228e-01] [-9.96099740e-03 9.97823406e-06 9.99950388e-01 -1.23678866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:0.86, Z:-1.24 [[ 9.99902688e-01 9.90698406e-03 9.82174792e-03 4.56661591e+01] [-9.90623326e-03 9.99950924e-01 -1.25090576e-04 8.57224498e-01] [-9.82250518e-03 2.77818772e-05 9.99951758e-01 -1.23762657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:0.86, Z:-1.24 [[ 9.99903112e-01 9.80980408e-03 9.87593635e-03 4.56980008e+01] [-9.80902209e-03 9.99951882e-01 -1.27617220e-04 8.57018395e-01] [-9.87671305e-03 3.07315773e-05 9.99951224e-01 -1.23846127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:0.86, Z:-1.24 [[ 9.99912001e-01 9.57529403e-03 9.18169857e-03 4.57300928e+01] [-9.57458803e-03 9.99954155e-01 -1.20845939e-04 8.56778340e-01] [-9.18243478e-03 3.29243229e-05 9.99957840e-01 -1.23900492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.76, Y:0.86, Z:-1.24 [[ 9.99920199e-01 9.25362475e-03 8.60032186e-03 4.57620378e+01] [-9.25299308e-03 9.99957184e-01 -1.13234351e-04 8.56353304e-01] [-8.60100145e-03 3.36465959e-05 9.99963010e-01 -1.23965741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:0.85, Z:-1.24 [[ 9.99935759e-01 7.62981676e-03 8.38239050e-03 4.57954616e+01] [-7.62915034e-03 9.99970891e-01 -1.11475541e-04 8.54839202e-01] [-8.38299704e-03 4.75178620e-05 9.99964861e-01 -1.24060760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:0.85, Z:-1.24 [[ 9.99945829e-01 6.59123137e-03 8.05566658e-03 4.58277967e+01] [-6.59057001e-03 9.99978276e-01 -1.08642885e-04 8.52818181e-01] [-8.05620767e-03 5.55455655e-05 9.99967547e-01 -1.24161069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:0.85, Z:-1.24 [[ 9.99953935e-01 5.30800199e-03 7.99704007e-03 4.58607277e+01] [-5.30729977e-03 9.99985910e-01 -1.09029487e-04 8.50080480e-01] [-7.99750612e-03 6.65817760e-05 9.99968017e-01 -1.24255099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.89, Y:0.84, Z:-1.24 [[ 9.99954608e-01 3.02362532e-03 9.03542288e-03 4.58940701e+01] [-3.02261592e-03 9.99995424e-01 -1.25370072e-04 8.43023649e-01] [-9.03576061e-03 9.80537682e-05 9.99959172e-01 -1.24248313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:0.84, Z:-1.24 [[ 9.99953786e-01 2.27183866e-03 9.34150898e-03 4.59268758e+01] [-2.27070966e-03 9.99997413e-01 -1.31462955e-04 8.38749705e-01] [-9.34178348e-03 1.10245025e-04 9.99956359e-01 -1.24359909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:45.96, Y:0.84, Z:-1.24 [[ 9.99958633e-01 2.08396883e-03 8.85382973e-03 4.59592888e+01] [-2.08293294e-03 9.99997823e-01 -1.26218840e-04 8.35134549e-01] [-8.85407349e-03 1.07771686e-04 9.99960796e-01 -1.24462367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:0.83, Z:-1.25 [[ 9.99956213e-01 3.68703848e-03 8.60101906e-03 4.59922592e+01] [-3.68609513e-03 9.99993198e-01 -1.25528540e-04 8.29095489e-01] [-8.60142338e-03 9.38188686e-05 9.99963003e-01 -1.24566946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:0.82, Z:-1.25 [[ 9.99949858e-01 5.15672075e-03 8.58423505e-03 4.60250044e+01] [-5.15583181e-03 9.99986701e-01 -1.25681379e-04 8.24985675e-01] [-8.58476899e-03 8.14162054e-05 9.99963147e-01 -1.24599927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.06, Y:0.82, Z:-1.25 [[ 9.99936656e-01 7.03562752e-03 8.78548600e-03 4.60567568e+01] [-7.03477405e-03 9.99975247e-01 -1.28045033e-04 8.20310284e-01] [-8.78616941e-03 6.62330134e-05 9.99961399e-01 -1.24675045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:0.82, Z:-1.25 [[ 9.99923916e-01 8.87236348e-03 8.56986707e-03 4.60896699e+01] [-8.87160720e-03 9.99960639e-01 -1.26260401e-04 8.15571759e-01] [-8.57064998e-03 5.02223001e-05 9.99963270e-01 -1.24775742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:0.81, Z:-1.25 [[ 9.99895402e-01 1.24780616e-02 7.31324321e-03 4.61226138e+01] [-1.24776022e-02 9.99922146e-01 -1.08437174e-04 8.07355557e-01] [-7.31402693e-03 1.71740917e-05 9.99973252e-01 -1.24778545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:0.80, Z:-1.25 [[ 9.99868866e-01 1.45625745e-02 7.08388259e-03 4.61543088e+01] [-1.45621858e-02 9.99893960e-01 -1.06448323e-04 8.04197572e-01] [-7.08468158e-03 3.27754944e-06 9.99974903e-01 -1.24821540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:0.80, Z:-1.25 [[ 9.99833415e-01 1.66601467e-02 7.45525549e-03 4.61871366e+01] [-1.66597627e-02 9.99861210e-01 -1.13607328e-04 8.01801636e-01] [-7.45611349e-03 -1.06143848e-05 9.99972203e-01 -1.24834765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:0.80, Z:-1.25 [[ 9.99787543e-01 1.85829092e-02 8.91873826e-03 4.62203085e+01] [-1.85824166e-02 9.99827322e-01 -1.38105249e-04 7.98893001e-01] [-8.91976459e-03 -2.76558023e-05 9.99960218e-01 -1.24858714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:0.79, Z:-1.25 [[ 9.99714636e-01 2.09765319e-02 1.14294096e-02 4.62519772e+01] [-2.09758383e-02 9.99779967e-01 -1.80567987e-04 7.91232003e-01] [-1.14306824e-02 -5.92249875e-05 9.99934666e-01 -1.24830769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:0.79, Z:-1.25 [[ 9.99708301e-01 2.15881555e-02 1.08288255e-02 4.62854228e+01] [-2.15875516e-02 9.99766947e-01 -1.72672852e-04 7.87197329e-01] [-1.08300295e-02 -6.11453466e-05 9.99941352e-01 -1.24915215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:0.78, Z:-1.25 [[ 9.99712311e-01 2.18464070e-02 9.90103364e-03 4.63177957e+01] [-2.18458981e-02 9.99761337e-01 -1.59560919e-04 7.83576543e-01] [-9.90215646e-03 -5.67819565e-05 9.99950971e-01 -1.25054172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:0.78, Z:-1.25 [[ 9.99699431e-01 2.25232928e-02 9.68239933e-03 4.63506604e+01] [-2.25228232e-02 9.99746317e-01 -1.57551480e-04 7.76396540e-01] [-9.68349165e-03 -6.05708429e-05 9.99953112e-01 -1.25215423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:0.77, Z:-1.25 [[ 9.99687011e-01 2.30363240e-02 9.75749245e-03 4.63831285e+01] [-2.30358533e-02 9.99734627e-01 -1.60638419e-04 7.72008041e-01] [-9.75860359e-03 -6.41840245e-05 9.99952382e-01 -1.25310348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:0.77, Z:-1.25 [[ 9.99682704e-01 2.34220690e-02 9.26809005e-03 4.64156107e+01] [-2.34216471e-02 9.99725664e-01 -1.54080432e-04 7.68146592e-01] [-9.26915636e-03 -6.30423917e-05 9.99957038e-01 -1.25336176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:0.76, Z:-1.25 [[ 9.99682644e-01 2.36642043e-02 8.63813649e-03 4.64487578e+01] [-2.36638357e-02 9.99719962e-01 -1.44891703e-04 7.64859607e-01] [-8.63914623e-03 -5.95657218e-05 9.99962680e-01 -1.25409090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:0.76, Z:-1.26 [[ 9.99681098e-01 2.37549595e-02 8.56767293e-03 4.64809830e+01] [-2.37545847e-02 9.99717809e-01 -1.45516906e-04 7.58490351e-01] [-8.56871196e-03 -5.80510121e-05 9.99963286e-01 -1.25501956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:0.75, Z:-1.26 [[ 9.99671435e-01 2.41034116e-02 8.72057029e-03 4.65131183e+01] [-2.41030218e-02 9.99709469e-01 -1.49812870e-04 7.53643042e-01] [-8.72164770e-03 -6.04284495e-05 9.99961964e-01 -1.25569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:0.75, Z:-1.26 [[ 9.99663895e-01 2.44060249e-02 8.74320391e-03 4.65456138e+01] [-2.44056323e-02 9.99702127e-01 -1.51615693e-04 7.48482533e-01] [-8.74429988e-03 -6.18186856e-05 9.99961766e-01 -1.25676258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:0.74, Z:-1.26 [[ 9.99657616e-01 2.48893760e-02 8.07275765e-03 4.65776007e+01] [-2.48890459e-02 9.99690210e-01 -1.41366877e-04 7.43666188e-01] [-8.07377532e-03 -5.96047604e-05 9.99967405e-01 -1.25757998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:0.74, Z:-1.26 [[ 9.99615563e-01 2.69940206e-02 6.32841031e-03 4.66105589e+01] [-2.69938597e-02 9.99635593e-01 -1.10855547e-04 7.37324505e-01] [-6.32909663e-03 -6.00152900e-05 9.99979969e-01 -1.25808571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:0.73, Z:-1.26 [[ 9.99573790e-01 2.84966033e-02 6.33886547e-03 4.66421457e+01] [-2.84964570e-02 9.99593887e-01 -1.13414957e-04 7.34486781e-01] [-6.33952311e-03 -6.72685888e-05 9.99979903e-01 -1.25919011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:0.73, Z:-1.26 [[ 9.99510383e-01 3.05810964e-02 6.61751186e-03 4.66742715e+01] [-3.05809829e-02 9.99532285e-01 -1.18357108e-04 7.30696036e-01] [-6.61803625e-03 -8.40708587e-05 9.99978097e-01 -1.25992555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:0.73, Z:-1.26 [[ 9.99474870e-01 3.17824859e-02 6.31330440e-03 4.67061674e+01] [-3.17824002e-02 9.99494805e-01 -1.13920540e-04 7.28414788e-01] [-6.31373563e-03 -8.67912502e-05 9.99980064e-01 -1.26027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:0.73, Z:-1.26 [[ 9.99442929e-01 3.28304917e-02 5.99922612e-03 4.67377704e+01] [-3.28304225e-02 9.99460930e-01 -1.10042936e-04 7.25883272e-01] [-5.99960488e-03 -8.69754943e-05 9.99981998e-01 -1.26091025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:0.72, Z:-1.26 [[ 9.99401369e-01 3.39955501e-02 6.41917711e-03 4.67698231e+01] [-3.39954945e-02 9.99421979e-01 -1.17801384e-04 7.23304182e-01] [-6.41947141e-03 -1.00492236e-04 9.99979390e-01 -1.26154349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.80, Y:0.72, Z:-1.26 [[ 9.99358156e-01 3.51710002e-02 6.80272314e-03 4.68020779e+01] [-3.51709566e-02 9.99381303e-01 -1.26080680e-04 7.21533486e-01] [-6.80294870e-03 -1.13258525e-04 9.99976853e-01 -1.26153072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:0.72, Z:-1.26 [[ 9.99296905e-01 3.64989962e-02 8.57427691e-03 4.68343901e+01] [-3.64989560e-02 9.99333678e-01 -1.61217669e-04 7.17997460e-01] [-8.57444796e-03 -1.51847838e-04 9.99963227e-01 -1.26248200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:0.72, Z:-1.26 [[ 9.99281790e-01 3.66575242e-02 9.59845562e-03 4.68674935e+01] [-3.66574617e-02 9.99327873e-01 -1.82504752e-04 7.15456142e-01] [-9.59869441e-03 -1.69481344e-04 9.99953917e-01 -1.26303366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.90, Y:0.71, Z:-1.26 [[ 9.99274927e-01 3.66041598e-02 1.04764261e-02 4.69002986e+01] [-3.66040571e-02 9.99329827e-01 -2.01611360e-04 7.13525537e-01] [-1.04767849e-02 -1.82014522e-04 9.99945100e-01 -1.26354422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:0.71, Z:-1.26 [[ 9.99307814e-01 3.56920942e-02 1.04865721e-02 4.69318847e+01] [-3.56919098e-02 9.99362820e-01 -2.04786339e-04 7.11480070e-01] [-1.04871995e-02 -1.69641197e-04 9.99944993e-01 -1.26465396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:0.71, Z:-1.27 [[ 9.99325240e-01 3.53603922e-02 9.93511132e-03 4.69649237e+01] [-3.53602084e-02 9.99374613e-01 -1.94217643e-04 7.08717280e-01] [-9.93576564e-03 -1.57221013e-04 9.99950627e-01 -1.26558587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:0.70, Z:-1.27 [[ 9.99333543e-01 3.52638968e-02 9.43010498e-03 4.69978890e+01] [-3.52637121e-02 9.99378025e-01 -1.85913026e-04 7.04906669e-01] [-9.43079571e-03 -1.46751384e-04 9.99955518e-01 -1.26666643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.03, Y:0.70, Z:-1.27 [[ 9.99357654e-01 3.51736824e-02 6.86235858e-03 4.70303508e+01] [-3.51735817e-02 9.99381209e-01 -1.35396592e-04 7.01492234e-01] [-6.86287461e-03 -1.06064110e-04 9.99976445e-01 -1.26787328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:0.70, Z:-1.27 [[ 9.99357085e-01 3.53792807e-02 5.80712670e-03 4.70623110e+01] [-3.53792025e-02 9.99373953e-01 -1.16233342e-04 7.00512826e-01] [-5.80760342e-03 -8.92928977e-05 9.99983132e-01 -1.26901086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:0.70, Z:-1.27 [[ 9.99347392e-01 3.57306742e-02 5.30186765e-03 4.70944431e+01] [-3.57306162e-02 9.99361452e-01 -1.05693638e-04 6.99041620e-01] [-5.30225865e-03 -8.38143371e-05 9.99985939e-01 -1.26960116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:0.70, Z:-1.27 [[ 9.99328887e-01 3.62370645e-02 5.35264253e-03 4.71264487e+01] [-3.62370079e-02 9.99343218e-01 -1.07585342e-04 6.97447279e-01] [-5.35302559e-03 -8.64506097e-05 9.99985669e-01 -1.27029904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:0.70, Z:-1.27 [[ 9.99294554e-01 3.71246214e-02 5.67072879e-03 4.71585517e+01] [-3.71245667e-02 9.99310639e-01 -1.14939800e-04 6.95991725e-01] [-5.67108670e-03 -9.56646331e-05 9.99983915e-01 -1.27137338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:0.69, Z:-1.27 [[ 9.99203813e-01 3.94314264e-02 6.07471244e-03 4.71907371e+01] [-3.94313974e-02 9.99222272e-01 -1.24583299e-04 6.93400195e-01] [-6.07490046e-03 -1.15050293e-04 9.99981541e-01 -1.27176720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:0.69, Z:-1.27 [[ 9.99156191e-01 4.05551740e-02 6.49490335e-03 4.72229024e+01] [-4.05551569e-02 9.99177292e-01 -1.34391986e-04 6.90864794e-01] [-6.49501023e-03 -1.29123240e-04 9.99978899e-01 -1.27280142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:0.69, Z:-1.27 [[ 9.99101460e-01 4.17207061e-02 7.46028349e-03 4.72561163e+01] [-4.17207020e-02 9.99129300e-01 -1.56255218e-04 6.88871183e-01] [-7.46030690e-03 -1.55133447e-04 9.99972159e-01 -1.27217041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.29, Y:0.69, Z:-1.27 [[ 9.99081328e-01 4.20541162e-02 8.24329295e-03 4.72888246e+01] [-4.20541063e-02 9.99115319e-01 -1.74612350e-04 6.88344974e-01] [-8.24334344e-03 -1.72212380e-04 9.99966008e-01 -1.27319356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.32, Y:0.69, Z:-1.27 [[ 9.99065796e-01 4.24337168e-02 8.18018523e-03 4.73222440e+01] [-4.24337073e-02 9.99099269e-01 -1.74790590e-04 6.87800516e-01] [-8.18023410e-03 -1.72488286e-04 9.99966526e-01 -1.27375056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:0.69, Z:-1.27 [[ 9.99069386e-01 4.24024026e-02 7.89925875e-03 4.73549759e+01] [-4.24023822e-02 9.99100600e-01 -1.70126543e-04 6.86465102e-01] [-7.89936793e-03 -1.64979168e-04 9.99968786e-01 -1.27499265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:0.68, Z:-1.28 [[ 9.99125141e-01 4.11770630e-02 7.30770078e-03 4.73880049e+01] [-4.11770062e-02 9.99151855e-01 -1.58285789e-04 6.83526137e-01] [-7.30802053e-03 -1.42761929e-04 9.99973286e-01 -1.27658408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164203822000005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:47.42, Y:0.68, Z:-1.28 [[ 9.99145003e-01 4.07206750e-02 7.14767203e-03 4.74196520e+01] [-4.07205981e-02 9.99170560e-01 -1.56343144e-04 6.82021074e-01] [-7.14810987e-03 -1.34848010e-04 9.99974443e-01 -1.27738669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.45, Y:0.68, Z:-1.28 [[ 9.99157131e-01 4.04790270e-02 6.81739822e-03 4.74529123e+01] [-4.04789445e-02 9.99180380e-01 -1.50133315e-04 6.80044451e-01] [-6.81788780e-03 -1.25954313e-04 9.99976750e-01 -1.27834913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:0.68, Z:-1.28 [[ 9.99156900e-01 4.04848847e-02 6.81635836e-03 4.74863201e+01] [-4.04847944e-02 9.99180143e-01 -1.51279065e-04 6.78362380e-01] [-6.81689444e-03 -1.24807346e-04 9.99976757e-01 -1.27934224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:0.68, Z:-1.28 [[ 9.99149019e-01 4.06531868e-02 6.96827079e-03 4.75184396e+01] [-4.06530850e-02 9.99173309e-01 -1.56312198e-04 6.75084186e-01] [-6.96886478e-03 -1.27102525e-04 9.99975709e-01 -1.27899934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:0.67, Z:-1.28 [[ 9.99145701e-01 4.07346544e-02 6.96820482e-03 4.75519249e+01] [-4.07345346e-02 9.99169992e-01 -1.59178900e-04 6.74173082e-01] [-6.96890525e-03 -1.24803666e-04 9.99975709e-01 -1.27977023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.58, Y:0.67, Z:-1.28 [[ 9.99139527e-01 4.09067893e-02 6.84397553e-03 4.75846544e+01] [-4.09066856e-02 9.99162959e-01 -1.55188611e-04 6.71950451e-01] [-6.84459511e-03 -1.24909280e-04 9.99976568e-01 -1.28031331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:0.67, Z:-1.28 [[ 9.99126014e-01 4.12343823e-02 6.85088090e-03 4.76172739e+01] [-4.12342775e-02 9.99149493e-01 -1.56603801e-04 6.69929025e-01] [-6.85151164e-03 -1.26024193e-04 9.99976520e-01 -1.28081889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:0.67, Z:-1.28 [[ 9.99125916e-01 4.13148646e-02 6.36284997e-03 4.76497994e+01] [-4.13147703e-02 9.99146170e-01 -1.46318389e-04 6.67820464e-01] [-6.36346230e-03 -1.16689190e-04 9.99979746e-01 -1.28199099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:0.67, Z:-1.28 [[ 9.99109718e-01 4.17878642e-02 5.79185081e-03 4.76828963e+01] [-4.17877903e-02 9.99126500e-01 -1.33838670e-04 6.66722377e-01] [-5.79238446e-03 -1.08309132e-04 9.99983218e-01 -1.28261538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.72, Y:0.67, Z:-1.28 [[ 9.99066030e-01 4.28059395e-02 5.89231369e-03 4.77162189e+01] [-4.28058738e-02 9.99083399e-01 -1.37320219e-04 6.65835641e-01] [-5.89279091e-03 -1.15033670e-04 9.99982631e-01 -1.28377617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:0.67, Z:-1.28 [[ 9.99006742e-01 4.40846217e-02 6.48659586e-03 4.77487965e+01] [-4.40845582e-02 9.99027792e-01 -1.52841012e-04 6.65036314e-01] [-6.48702748e-03 -1.33269512e-04 9.99978950e-01 -1.28471110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:0.66, Z:-1.29 [[ 9.98901370e-01 4.62963905e-02 7.25924605e-03 4.77822083e+01] [-4.62963559e-02 9.98927734e-01 -1.72899640e-04 6.62563576e-01] [-7.25946684e-03 -1.63366952e-04 9.99973636e-01 -1.28514483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:0.66, Z:-1.29 [[ 9.98862019e-01 4.72021110e-02 6.82837778e-03 4.78137601e+01] [-4.72020927e-02 9.98885347e-01 -1.63924022e-04 6.61191258e-01] [-6.82850407e-03 -1.58576241e-04 9.99976673e-01 -1.28565598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:0.66, Z:-1.29 [[ 9.98826977e-01 4.80055383e-02 6.33545944e-03 4.78456577e+01] [-4.80055331e-02 9.98847058e-01 -1.52980240e-04 6.60330160e-01] [-6.33549892e-03 -1.51336317e-04 9.99979919e-01 -1.28667370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.88, Y:0.66, Z:-1.29 [[ 9.98806736e-01 4.84652399e-02 6.01861325e-03 4.78787609e+01] [-4.84652387e-02 9.98824859e-01 -1.46130685e-04 6.60255237e-01] [-6.01862279e-03 -1.45737215e-04 9.99981877e-01 -1.28746290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:0.66, Z:-1.29 [[ 9.98797389e-01 4.87678604e-02 5.04684797e-03 4.79106292e+01] [-4.87678611e-02 9.98810132e-01 -1.23006664e-04 6.61485861e-01] [-5.04684166e-03 -1.23265245e-04 9.99987257e-01 -1.28899675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.94, Y:0.66, Z:-1.29 [[ 9.98785051e-01 4.90287971e-02 4.95974321e-03 4.79426458e+01] [-4.90287958e-02 9.98797358e-01 -1.21908331e-04 6.61010636e-01] [-4.95975544e-03 -1.21410019e-04 9.99987693e-01 -1.28991711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:0.66, Z:-1.29 [[ 9.98762103e-01 4.94452425e-02 5.42499466e-03 4.79748639e+01] [-4.94452407e-02 9.98776827e-01 -1.34547153e-04 6.60246597e-01] [-5.42501167e-03 -1.33859569e-04 9.99985276e-01 -1.29075872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.01, Y:0.66, Z:-1.29 [[ 9.98716790e-01 5.02471808e-02 6.32414731e-03 4.80067481e+01] [-5.02471839e-02 9.98736800e-01 -1.58494513e-04 6.58528259e-01] [-6.32412255e-03 -1.59479462e-04 9.99979990e-01 -1.29187840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.04, Y:0.66, Z:-1.29 [[ 9.98737833e-01 4.98811324e-02 5.88328986e-03 4.80387291e+01] [-4.98811198e-02 9.98755151e-01 -1.48953759e-04 6.56678221e-01] [-5.88339604e-03 -1.44699332e-04 9.99982682e-01 -1.29278005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.07, Y:0.66, Z:-1.29 [[ 9.98753141e-01 4.96462182e-02 5.23613809e-03 4.80706193e+01] [-4.96462032e-02 9.98766858e-01 -1.32925142e-04 6.55475539e-01] [-5.23628042e-03 -1.27194972e-04 9.99986283e-01 -1.29315988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:0.66, Z:-1.29 [[ 9.98759658e-01 4.95160762e-02 5.22526211e-03 4.81028272e+01] [-4.95160609e-02 9.98773319e-01 -1.32383508e-04 6.55289704e-01] [-5.22540749e-03 -1.26515090e-04 9.99986339e-01 -1.29358585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:0.65, Z:-1.29 [[ 9.98757355e-01 4.95468307e-02 5.37186070e-03 4.81349472e+01] [-4.95468098e-02 9.98771793e-01 -1.37064615e-04 6.53686218e-01] [-5.37205406e-03 -1.29264268e-04 9.99985562e-01 -1.29420574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.17, Y:0.65, Z:-1.29 [[ 9.98759894e-01 4.94695531e-02 5.60696717e-03 4.81668318e+01] [-4.94695229e-02 9.98775623e-01 -1.44160463e-04 6.51811849e-01] [-5.60723369e-03 -1.33392302e-04 9.99984270e-01 -1.29448529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:0.65, Z:-1.29 [[ 9.98746275e-01 4.97202080e-02 5.81194769e-03 4.81985159e+01] [-4.97201746e-02 9.98763176e-01 -1.50331914e-04 6.49586269e-01] [-5.81223387e-03 -1.38827615e-04 9.99983099e-01 -1.29493391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.23, Y:0.65, Z:-1.30 [[ 9.98696688e-01 5.06546768e-02 6.24726419e-03 4.82316320e+01] [-5.06546488e-02 9.98716216e-01 -1.62811206e-04 6.46411240e-01] [-6.24749120e-03 -1.53853961e-04 9.99980472e-01 -1.29563653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.26, Y:0.64, Z:-1.30 [[ 9.98646188e-01 5.15970941e-02 6.59787489e-03 4.82641366e+01] [-5.15970740e-02 9.98667969e-01 -1.73375632e-04 6.44315213e-01] [-6.59803199e-03 -1.67290126e-04 9.99978219e-01 -1.29641378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.30, Y:0.64, Z:-1.30 [[ 9.98563501e-01 5.32142633e-02 6.25907492e-03 4.82961878e+01] [-5.32142696e-02 9.98583103e-01 -1.65643033e-04 6.42734703e-01] [-6.25902103e-03 -1.67667013e-04 9.99980398e-01 -1.29721335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.33, Y:0.65, Z:-1.30 [[ 9.98316572e-01 5.78075140e-02 4.72376532e-03 4.83280155e+01] [-5.78075686e-02 9.98327736e-01 -1.25082945e-04 6.45679832e-01] [-4.72309667e-03 -1.48197011e-04 9.99988835e-01 -1.29858160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.36, Y:0.65, Z:-1.30 [[ 9.98186494e-01 6.00233080e-02 4.57452316e-03 4.83602272e+01] [-6.00233797e-02 9.98196964e-01 -1.21740037e-04 6.46696424e-01] [-4.57358237e-03 -1.53059079e-04 9.99989529e-01 -1.29999910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.39, Y:0.65, Z:-1.30 [[ 9.98107055e-01 6.13592426e-02 4.16543680e-03 4.83911235e+01] [-6.13593113e-02 9.98115736e-01 -1.11428865e-04 6.46183947e-01] [-4.16442521e-03 -1.44370397e-04 9.99991318e-01 -1.30049214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.42, Y:0.64, Z:-1.30 [[ 9.97964502e-01 6.36487092e-02 3.96158081e-03 4.84225045e+01] [-6.36487780e-02 9.97972355e-01 -1.08847016e-04 6.43580099e-01] [-3.96047610e-03 -1.43524319e-04 9.99992147e-01 -1.30084004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.45, Y:0.64, Z:-1.30 [[ 9.97902983e-01 6.46298464e-02 3.55229185e-03 4.84541292e+01] [-6.46299166e-02 9.97909297e-01 -9.51534513e-05 6.42794375e-01] [-3.55101481e-03 -1.34630413e-04 9.99993686e-01 -1.30178429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.48, Y:0.64, Z:-1.30 [[ 9.97862684e-01 6.52645561e-02 3.25611172e-03 4.84848810e+01] [-6.52646116e-02 9.97867989e-01 -8.93429345e-05 6.43022770e-01] [-3.25500058e-03 -1.23356886e-04 9.99994695e-01 -1.30233625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.52, Y:0.65, Z:-1.30 [[ 9.97815373e-01 6.59482979e-02 3.91198487e-03 4.85166833e+01] [-6.59483791e-02 9.97823030e-01 -1.08352806e-04 6.45302800e-01] [-3.91061428e-03 -1.49872966e-04 9.99992342e-01 -1.30379359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.55, Y:0.65, Z:-1.30 [[ 9.97806606e-01 6.60439586e-02 4.49130613e-03 4.85483592e+01] [-6.60440717e-02 9.97816699e-01 -1.23297035e-04 6.45470638e-01] [-4.48964329e-03 -1.73597548e-04 9.99989906e-01 -1.30431720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.58, Y:0.65, Z:-1.31 [[ 9.97824449e-01 6.57585419e-02 4.70996063e-03 4.85794100e+01] [-6.57586656e-02 9.97835548e-01 -1.28763069e-04 6.46086851e-01] [-4.70823342e-03 -1.81237788e-04 9.99988900e-01 -1.30537593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.61, Y:0.65, Z:-1.31 [[ 9.97879825e-01 6.49391518e-02 4.33144859e-03 4.86103953e+01] [-6.49392420e-02 9.97889213e-01 -1.19967987e-04 6.46412305e-01] [-4.33009644e-03 -1.61567354e-04 9.99990612e-01 -1.30595242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.64, Y:0.65, Z:-1.31 [[ 9.98084349e-01 6.17594626e-02 3.66084240e-03 4.86421137e+01] [-6.17595008e-02 9.98091055e-01 -1.02716855e-04 6.46308303e-01] [-3.66019779e-03 -1.23571714e-04 9.99993294e-01 -1.30764896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.67, Y:0.65, Z:-1.31 [[ 9.98197724e-01 5.99191986e-02 3.31552762e-03 4.86737233e+01] [-5.99192198e-02 9.98203225e-01 -9.30374472e-05 6.45489870e-01] [-3.31514509e-03 -1.05794060e-04 9.99994499e-01 -1.30850061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.70, Y:0.64, Z:-1.31 [[ 9.98294119e-01 5.82957137e-02 3.23455135e-03 4.87041767e+01] [-5.82957244e-02 9.98299354e-01 -9.10590370e-05 6.44980911e-01] [-3.23435887e-03 -9.76568129e-05 9.99994765e-01 -1.30851969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.74, Y:0.65, Z:-1.31 [[ 9.98488434e-01 5.48166943e-02 3.99720694e-03 4.87360241e+01] [-5.48166833e-02 9.98496429e-01 -1.12411240e-04 6.47008565e-01] [-3.99735887e-03 -1.06872304e-04 9.99992005e-01 -1.30809389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.77, Y:0.65, Z:-1.31 [[ 9.98585684e-01 5.29757472e-02 4.49454884e-03 4.87675089e+01] [-5.29757245e-02 9.98595793e-01 -1.24182321e-04 6.47742488e-01] [-4.49481621e-03 -1.14095294e-04 9.99989892e-01 -1.30897840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:0.65, Z:-1.31 [[ 9.98699843e-01 5.07692029e-02 4.59481093e-03 4.87993304e+01] [-5.07691530e-02 9.98710407e-01 -1.27572942e-04 6.47023720e-01] [-4.59536227e-03 -1.05867581e-04 9.99989436e-01 -1.30985567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:0.64, Z:-1.31 [[ 9.98984859e-01 4.48571012e-02 4.13425120e-03 4.88315158e+01] [-4.48570010e-02 9.98993411e-01 -1.17011664e-04 6.42825622e-01] [-4.13533851e-03 -6.85572291e-05 9.99991447e-01 -1.31132779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.86, Y:0.64, Z:-1.31 [[ 9.99122482e-01 4.16905793e-02 4.02026513e-03 4.88621818e+01] [-4.16904653e-02 9.99130568e-01 -1.12195634e-04 6.40727866e-01] [-4.02144728e-03 -5.55095430e-05 9.99991912e-01 -1.31214883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.89, Y:0.64, Z:-1.31 [[ 9.99232598e-01 3.89518152e-02 4.11967528e-03 4.88945873e+01] [-3.89516702e-02 9.99241089e-01 -1.15466035e-04 6.39219567e-01] [-4.12104643e-03 -4.50908063e-05 9.99991507e-01 -1.31327103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.93, Y:0.64, Z:-1.31 [[ 9.99323697e-01 3.65375361e-02 4.14221765e-03 4.89253721e+01] [-3.65373601e-02 9.99332281e-01 -1.18180480e-04 6.37752061e-01] [-4.14376984e-03 -3.32451439e-05 9.99991414e-01 -1.31407409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.96, Y:0.64, Z:-1.31 [[ 9.99413565e-01 3.39379687e-02 4.55416977e-03 4.89575194e+01] [-3.39377322e-02 9.99423941e-01 -1.29236468e-04 6.36221448e-01] [-4.55593233e-03 -2.53975152e-05 9.99989621e-01 -1.31407711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.99, Y:0.64, Z:-1.31 [[ 9.99396684e-01 3.44244799e-02 4.60691731e-03 4.89892051e+01] [-3.44242396e-02 9.99407302e-01 -1.31477663e-04 6.35498316e-01] [-4.60871285e-03 -2.71912848e-05 9.99989379e-01 -1.31453293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:0.63, Z:-1.31 [[ 9.99337954e-01 3.61298491e-02 4.27642910e-03 4.90209925e+01] [-3.61296567e-02 9.99347103e-01 -1.22263111e-04 6.33972834e-01] [-4.27805438e-03 -3.23237484e-05 9.99990849e-01 -1.31494391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:0.63, Z:-1.32 [[ 9.99145097e-01 4.12386821e-02 2.90617420e-03 4.90534616e+01] [-4.12386167e-02 9.99149323e-01 -8.24457250e-05 6.31691988e-01] [-2.90710193e-03 -3.74713619e-05 9.99995774e-01 -1.31578116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.08, Y:0.63, Z:-1.32 [[ 9.99001798e-01 4.45932783e-02 2.61664563e-03 4.90834444e+01] [-4.45932306e-02 9.99005224e-01 -7.66194729e-05 6.31683222e-01] [-2.61745937e-03 -4.01416907e-05 9.99996574e-01 -1.31639518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.11, Y:0.63, Z:-1.32 [[ 9.98827098e-01 4.83381447e-02 2.80219508e-03 4.91148186e+01] [-4.83381022e-02 9.98831027e-01 -8.29552149e-05 6.31995675e-01] [-2.80292929e-03 -5.25948755e-05 9.99996070e-01 -1.31662046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.14, Y:0.63, Z:-1.32 [[ 9.98416238e-01 5.60999155e-02 4.22089404e-03 4.91442098e+01] [-5.60998837e-02 9.98425154e-01 -1.26031823e-04 6.33711277e-01] [-4.22131715e-03 -1.10959446e-04 9.99991084e-01 -1.31617012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.18, Y:0.63, Z:-1.32 [[ 9.98248770e-01 5.90058610e-02 4.20737537e-03 4.91752301e+01] [-5.90058582e-02 9.98257629e-01 -1.24906071e-04 6.34750557e-01] [-4.20741475e-03 -1.23572462e-04 9.99991141e-01 -1.31696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.21, Y:0.64, Z:-1.32 [[ 9.98117407e-01 6.11968193e-02 4.07312868e-03 4.92056800e+01] [-6.11968337e-02 9.98125710e-01 -1.21223543e-04 6.35511399e-01] [-4.07291295e-03 -1.28267249e-04 9.99991697e-01 -1.31781523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.24, Y:0.64, Z:-1.32 [[ 9.98041511e-01 6.24059329e-02 4.31758395e-03 4.92356581e+01] [-6.24059600e-02 9.98050840e-01 -1.28570080e-04 6.36034759e-01] [-4.31719182e-03 -1.41124694e-04 9.99990671e-01 -1.31896751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:0.64, Z:-1.32 [[ 9.98035274e-01 6.24276381e-02 5.32750680e-03 4.92665326e+01] [-6.24276779e-02 9.98049478e-01 -1.58969300e-04 6.36205683e-01] [-5.32703945e-03 -1.73926910e-04 9.99985796e-01 -1.31969870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.30, Y:0.64, Z:-1.32 [[ 9.98071812e-01 6.18106790e-02 5.66544183e-03 4.92982533e+01] [-6.18107164e-02 9.98087875e-01 -1.68650967e-04 6.35514879e-01] [-5.66503323e-03 -1.81859242e-04 9.99983937e-01 -1.32008340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.33, Y:0.63, Z:-1.32 [[ 9.98139878e-01 6.06874689e-02 5.81505006e-03 4.93307461e+01] [-6.06875029e-02 9.98156800e-01 -1.70769339e-04 6.34202322e-01] [-5.81469532e-03 -1.82449181e-04 9.99983078e-01 -1.32136201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.36, Y:0.63, Z:-1.32 [[ 9.98303261e-01 5.79208053e-02 5.98166529e-03 4.93626355e+01] [-5.79207862e-02 9.98321166e-01 -1.76580845e-04 6.31003003e-01] [-5.98185078e-03 -1.70181523e-04 9.99982094e-01 -1.32209789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.39, Y:0.63, Z:-1.32 [[ 9.98385429e-01 5.64948291e-02 5.90501658e-03 4.93943099e+01] [-5.64947780e-02 9.98402879e-01 -1.75586560e-04 6.29170799e-01] [-5.90550529e-03 -1.58299538e-04 9.99982550e-01 -1.32265827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.43, Y:0.63, Z:-1.32 [[ 9.98463805e-01 5.51012255e-02 5.82112963e-03 4.94267265e+01] [-5.51011470e-02 9.98480763e-01 -1.73992903e-04 6.27316086e-01] [-5.82187318e-03 -1.47025304e-04 9.99983042e-01 -1.32360169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.46, Y:0.63, Z:-1.32 [[ 9.98529437e-01 5.39358494e-02 5.46700127e-03 4.94588063e+01] [-5.39357596e-02 9.98544394e-01 -1.63966935e-04 6.25183418e-01] [-5.46788716e-03 -1.31141055e-04 9.99985042e-01 -1.32481359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.49, Y:0.62, Z:-1.33 [[ 9.98607808e-01 5.25288239e-02 4.81340089e-03 4.94902793e+01] [-5.25287351e-02 9.98619402e-01 -1.44949690e-04 6.20587973e-01] [-4.81436955e-03 -1.08093967e-04 9.99988405e-01 -1.32613178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.52, Y:0.62, Z:-1.33 [[ 9.98606984e-01 5.25296104e-02 4.97308788e-03 4.95212081e+01] [-5.25295106e-02 9.98619361e-01 -1.50770578e-04 6.18166688e-01] [-4.97414176e-03 -1.10673320e-04 9.99987623e-01 -1.32647892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.55, Y:0.62, Z:-1.33 [[ 9.98585006e-01 5.29525301e-02 4.90056434e-03 4.95537269e+01] [-5.29524361e-02 9.98597024e-01 -1.49007765e-04 6.16029087e-01] [-4.90157930e-03 -1.10699900e-04 9.99987981e-01 -1.32676974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.59, Y:0.61, Z:-1.33 [[ 9.98581870e-01 5.30116431e-02 4.90047930e-03 4.95863708e+01] [-5.30115364e-02 9.98593888e-01 -1.51735730e-04 6.14916080e-01] [-4.90163244e-03 -1.08261388e-04 9.99987981e-01 -1.32752139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.62, Y:0.61, Z:-1.33 [[ 9.98555890e-01 5.35116565e-02 4.75794243e-03 4.96171355e+01] [-5.35115687e-02 9.98567219e-01 -1.45854547e-04 6.12380870e-01] [-4.75893026e-03 -1.08961046e-04 9.99988670e-01 -1.32806497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.65, Y:0.61, Z:-1.33 [[ 9.98497197e-01 5.46082764e-02 4.61340846e-03 4.96489084e+01] [-5.46082042e-02 9.98507849e-01 -1.41714741e-04 6.06602638e-01] [-4.61426336e-03 -1.10428180e-04 9.99989348e-01 -1.32813705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.68, Y:0.60, Z:-1.33 [[ 9.98476785e-01 5.50118790e-02 4.21946622e-03 4.96799105e+01] [-5.50118196e-02 9.98485695e-01 -1.30234463e-04 6.03960240e-01] [-4.22024110e-03 -1.02084426e-04 9.99991090e-01 -1.32885269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.71, Y:0.60, Z:-1.33 [[ 9.98459978e-01 5.53734767e-02 3.38390841e-03 4.97119500e+01] [-5.53734416e-02 9.98465709e-01 -1.04139734e-04 6.01498531e-01] [-3.38448309e-03 -8.33992977e-05 9.99994269e-01 -1.32953745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.74, Y:0.60, Z:-1.33 [[ 9.98411064e-01 5.61570816e-02 4.66155906e-03 4.97443808e+01] [-5.61570133e-02 9.98421939e-01 -1.45654405e-04 5.98815095e-01] [-4.66238236e-03 -1.16356265e-04 9.99989124e-01 -1.33082030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.78, Y:0.60, Z:-1.33 [[ 9.98370239e-01 5.68119758e-02 5.40976440e-03 4.97767121e+01] [-5.68118809e-02 9.98384886e-01 -1.71332095e-04 5.95458848e-01] [-5.41076073e-03 -1.36286026e-04 9.99985352e-01 -1.33059174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.81, Y:0.59, Z:-1.33 [[ 9.98243976e-01 5.89655349e-02 5.65954335e-03 4.98083251e+01] [-5.89654659e-02 9.98260007e-01 -1.79191498e-04 5.90410354e-01] [-5.66026191e-03 -1.54840777e-04 9.99983969e-01 -1.33112588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.84, Y:0.59, Z:-1.33 [[ 9.98148276e-01 6.05590384e-02 5.71157846e-03 4.98398822e+01] [-6.05589898e-02 9.98164604e-01 -1.81621313e-04 5.88392048e-01] [-5.71209426e-03 -1.64602421e-04 9.99983672e-01 -1.33183009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.87, Y:0.59, Z:-1.33 [[ 9.98006706e-01 6.28520791e-02 5.67730272e-03 4.98729511e+01] [-6.28520638e-02 9.98022838e-01 -1.81297888e-04 5.87423839e-01] [-5.67747272e-03 -1.75893685e-04 9.99983868e-01 -1.33191022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:0.59, Z:-1.33 [[ 9.97664790e-01 6.81329697e-02 4.78175518e-03 4.99051729e+01] [-6.81330163e-02 9.97676234e-01 -1.53341108e-04 5.88416674e-01] [-4.78109109e-03 -1.72812379e-04 9.99988556e-01 -1.33360492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.94, Y:0.59, Z:-1.33 [[ 9.97489623e-01 7.07353853e-02 3.31015993e-03 4.99377867e+01] [-7.07354241e-02 9.97495107e-01 -1.05517981e-04 5.88549853e-01] [-3.30933219e-03 -1.28892475e-04 9.99994516e-01 -1.33477995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.97, Y:0.59, Z:-1.34 [[ 9.97341787e-01 7.28388150e-02 1.96643697e-03 4.99682490e+01] [-7.28388288e-02 9.97343723e-01 -6.46690963e-05 5.88250631e-01] [-1.96592399e-03 -7.87357737e-05 9.99998064e-01 -1.33576014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.00, Y:0.59, Z:-1.34 [[ 9.97223112e-01 7.44605735e-02 1.29916446e-03 4.99985493e+01] [-7.44605806e-02 9.97223957e-01 -4.29013800e-05 5.88060361e-01] [-1.29875238e-03 -5.39542923e-05 9.99999155e-01 -1.33618312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:0.59, Z:-1.34 [[ 9.97096926e-01 7.61073035e-02 2.32340825e-03 5.00294746e+01] [-7.61073310e-02 9.97099628e-01 -7.67242511e-05 5.90442592e-01] [-2.32250878e-03 -1.00326886e-04 9.99997298e-01 -1.33621892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:0.59, Z:-1.34 [[ 9.97111685e-01 7.59101660e-02 2.43606848e-03 5.00595037e+01] [-7.59101956e-02 9.97114655e-01 -8.04445497e-05 5.90701790e-01] [-2.43514615e-03 -1.04710235e-04 9.99997030e-01 -1.33651931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.09, Y:0.59, Z:-1.34 [[ 9.97183790e-01 7.49442010e-02 2.80264085e-03 5.00892336e+01] [-7.49442357e-02 9.97187722e-01 -9.27944194e-05 5.90325348e-01] [-2.80171345e-03 -1.17508686e-04 9.99996068e-01 -1.33686288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.12, Y:0.60, Z:-1.34 [[ 9.97404676e-01 7.17900963e-02 5.48581649e-03 5.01200754e+01] [-7.17901897e-02 9.97419739e-01 -1.80141009e-04 5.95467008e-01] [-5.48459399e-03 -2.14154322e-04 9.99984937e-01 -1.33604465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:0.60, Z:-1.34 [[ 9.97524994e-01 6.99910107e-02 6.71895925e-03 5.01512232e+01] [-6.99911024e-02 9.97547591e-01 -2.21782699e-04 5.97594603e-01] [-6.71800441e-03 -2.49033580e-04 9.99977403e-01 -1.33683333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:0.60, Z:-1.34 [[ 9.97655176e-01 6.80550321e-02 7.25685554e-03 5.01833671e+01] [-6.80551026e-02 9.97681536e-01 -2.37508796e-04 5.98013915e-01] [-7.25619444e-03 -2.56914169e-04 9.99973640e-01 -1.33745490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.22, Y:0.60, Z:-1.34 [[ 9.97784312e-01 6.60325735e-02 8.13430074e-03 5.02158676e+01] [-6.60325817e-02 9.97817431e-01 -2.67855723e-04 5.97454777e-01] [-8.13423427e-03 -2.69866640e-04 9.99966880e-01 -1.33802655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.25, Y:0.60, Z:-1.34 [[ 9.97978455e-01 6.27296560e-02 1.01977080e-02 5.02490175e+01] [-6.27294688e-02 9.98030510e-01 -3.38528424e-04 5.98658955e-01] [-1.01988595e-02 -3.01852735e-04 9.99947945e-01 -1.33752984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:0.60, Z:-1.34 [[ 9.98042775e-01 6.17627782e-02 9.79683837e-03 5.02818094e+01] [-6.17625431e-02 9.98090818e-01 -3.26836749e-04 5.99128760e-01] [-9.79832077e-03 -2.78880595e-04 9.99951956e-01 -1.33848303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.31, Y:0.60, Z:-1.34 [[ 9.98118821e-01 6.07375134e-02 8.35311229e-03 5.03137602e+01] [-6.07372973e-02 9.98153747e-01 -2.79785547e-04 5.99974359e-01] [-8.35468381e-03 -2.28086244e-04 9.99965073e-01 -1.33995064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.35, Y:0.60, Z:-1.34 [[ 9.98289783e-01 5.80544705e-02 6.86927437e-03 5.03465459e+01] [-5.80542585e-02 9.98313403e-01 -2.30415499e-04 6.01031708e-01] [-6.87106532e-03 -1.68769191e-04 9.99976380e-01 -1.34145462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:0.60, Z:-1.34 [[ 9.98358901e-01 5.68213083e-02 7.13042636e-03 5.03781421e+01] [-5.68210365e-02 9.98384351e-01 -2.40854937e-04 5.98494007e-01] [-7.13259179e-03 -1.64698546e-04 9.99974549e-01 -1.34201804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.41, Y:0.60, Z:-1.34 [[ 9.98410768e-01 5.59657031e-02 6.61652702e-03 5.04100484e+01] [-5.59654427e-02 9.98432681e-01 -2.24655828e-04 5.95494046e-01] [-6.61872983e-03 -1.45998065e-04 9.99978085e-01 -1.34172705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.44, Y:0.60, Z:-1.34 [[ 9.98469534e-01 5.51685455e-02 3.87576257e-03 5.04418684e+01] [-5.51684539e-02 9.98477053e-01 -1.30616310e-04 5.95433314e-01] [-3.87706590e-03 -8.34034230e-05 9.99992481e-01 -1.34203051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.47, Y:0.60, Z:-1.34 [[ 9.98478236e-01 5.50991699e-02 2.30080926e-03 5.04737391e+01] [-5.50991335e-02 9.98480886e-01 -7.92604290e-05 5.97154887e-01] [-2.30168125e-03 -4.76327829e-05 9.99997350e-01 -1.34322892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:0.60, Z:-1.34 [[ 9.98481220e-01 5.50793166e-02 1.23346010e-03 5.05028727e+01] [-5.50793058e-02 9.98481982e-01 -4.27810486e-05 5.99080957e-01] [-1.23394404e-03 -2.52220523e-05 9.99999238e-01 -1.34401108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:0.60, Z:-1.35 [[ 9.98533142e-01 5.41017982e-02 2.13529584e-03 5.05330546e+01] [-5.41017635e-02 9.98535424e-01 -7.40601136e-05 6.01603469e-01] [-2.13617532e-03 -4.15717925e-05 9.99997718e-01 -1.34519344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:0.60, Z:-1.35 [[ 9.98576779e-01 5.32505517e-02 2.96557404e-03 5.05622034e+01] [-5.32504817e-02 9.98581181e-01 -1.02629475e-04 6.00306447e-01] [-2.96683151e-03 -5.54348354e-05 9.99995597e-01 -1.34550208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.59, Y:0.60, Z:-1.35 [[ 9.98610576e-01 5.25677570e-02 3.68070180e-03 5.05924863e+01] [-5.25676432e-02 9.98617357e-01 -1.27702502e-04 5.98408690e-01] [-3.68232574e-03 -6.59607498e-05 9.99993218e-01 -1.34531513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.62, Y:0.60, Z:-1.34 [[ 9.98641486e-01 5.17391257e-02 6.18423642e-03 5.06226534e+01] [-5.17387900e-02 9.98660629e-01 -2.14356223e-04 5.97957965e-01] [-6.18704403e-03 -1.05899892e-04 9.99980854e-01 -1.34448737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.65, Y:0.60, Z:-1.35 [[ 9.98638838e-01 5.16963935e-02 6.92493479e-03 5.06544373e+01] [-5.16959875e-02 9.98662840e-01 -2.37727443e-04 5.98176401e-01] [-6.92796469e-03 -1.20587486e-04 9.99975994e-01 -1.34510098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:0.60, Z:-1.35 [[ 9.98615899e-01 5.21360871e-02 6.93643950e-03 5.06867926e+01] [-5.21356826e-02 9.98639982e-01 -2.39242503e-04 5.98776732e-01] [-6.93947898e-03 -1.22724640e-04 9.99975914e-01 -1.34586537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.72, Y:0.60, Z:-1.35 [[ 9.98591207e-01 5.26262459e-02 6.78813611e-03 5.07193959e+01] [-5.26258636e-02 9.98614271e-01 -2.35042507e-04 5.99896823e-01] [-6.79109900e-03 -1.22520144e-04 9.99976933e-01 -1.34688647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:0.60, Z:-1.35 [[ 9.98523744e-01 5.39310274e-02 6.46356532e-03 5.07510233e+01] [-5.39307008e-02 9.98544655e-01 -2.24943507e-04 6.00561981e-01] [-6.46629004e-03 -1.23973174e-04 9.99979086e-01 -1.34814501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.78, Y:0.60, Z:-1.35 [[ 9.98511078e-01 5.42380045e-02 5.81946577e-03 5.07823649e+01] [-5.42377282e-02 9.98528030e-01 -2.05399004e-04 5.99288907e-01] [-5.82204012e-03 -1.10541422e-04 9.99983046e-01 -1.34879499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.81, Y:0.60, Z:-1.35 [[ 9.98524959e-01 5.40132898e-02 5.52008041e-03 5.08139689e+01] [-5.40130373e-02 9.98540211e-01 -1.94927033e-04 5.98861628e-01] [-5.52255091e-03 -1.03516802e-04 9.99984745e-01 -1.34947257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.84, Y:0.60, Z:-1.35 [[ 9.98626805e-01 5.21818512e-02 4.64317091e-03 5.08447884e+01] [-5.21816526e-02 9.98637596e-01 -1.63987411e-04 6.00151452e-01] [-4.64540221e-03 -7.85261078e-05 9.99989207e-01 -1.35087890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:0.60, Z:-1.35 [[ 9.98723765e-01 5.03890818e-02 3.43238646e-03 5.08753789e+01] [-5.03889621e-02 9.98729662e-01 -1.21396416e-04 5.98780452e-01] [-3.43414323e-03 -5.17129058e-05 9.99994102e-01 -1.35222094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.91, Y:0.60, Z:-1.35 [[ 9.98850557e-01 4.78656680e-02 2.53812336e-03 5.09056883e+01] [-4.78655939e-02 9.98853782e-01 -8.99686443e-05 5.96216950e-01] [-2.53952052e-03 -3.16235514e-05 9.99996775e-01 -1.35360926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.94, Y:0.59, Z:-1.35 [[ 9.98980597e-01 4.50276315e-02 3.20624954e-03 5.09352750e+01] [-4.50274978e-02 9.98985741e-01 -1.13884066e-04 5.92945753e-01] [-3.20812550e-03 -3.06014219e-05 9.99994853e-01 -1.35455798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.97, Y:0.59, Z:-1.35 [[ 9.99203933e-01 3.95913895e-02 4.90119432e-03 5.09663985e+01] [-3.95910160e-02 9.99215953e-01 -1.73252517e-04 5.88761892e-01] [-4.90421086e-03 -2.09286664e-05 9.99987974e-01 -1.35461768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:0.59, Z:-1.35 [[ 9.99287276e-01 3.74032471e-02 5.09283756e-03 5.09989344e+01] [-3.74028274e-02 9.99300254e-01 -1.77661965e-04 5.86850109e-01] [-5.09591900e-03 -1.29511833e-05 9.99987016e-01 -1.35483624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:0.58, Z:-1.36 [[ 9.99394270e-01 3.46171398e-02 3.57037874e-03 5.10305810e+01] [-3.46169177e-02 9.99400647e-01 -1.23990133e-04 5.82028255e-01] [-3.57253100e-03 3.19521261e-07 9.99993618e-01 -1.35569825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:0.58, Z:-1.36 [[ 9.99396591e-01 3.46034787e-02 3.00873034e-03 5.10620462e+01] [-3.46033128e-02 9.99401120e-01 -1.07184631e-04 5.77062875e-01] [-3.01063743e-03 3.00791753e-06 9.99995468e-01 -1.35696212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.09, Y:0.57, Z:-1.36 [[ 9.99362884e-01 3.55677951e-02 2.95934674e-03 5.10926502e+01] [-3.55676379e-02 9.99367266e-01 -1.05732897e-04 5.71909247e-01] [-2.96123495e-03 4.08559513e-07 9.99995616e-01 -1.35813681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.12, Y:0.57, Z:-1.36 [[ 9.99297037e-01 3.73306032e-02 3.44355768e-03 5.11226933e+01] [-3.73304006e-02 9.99302970e-01 -1.23125590e-04 5.67193923e-01] [-3.44575377e-03 -5.51035039e-06 9.99994063e-01 -1.35836596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:0.56, Z:-1.36 [[ 9.99210657e-01 3.95196289e-02 4.03266645e-03 5.11543230e+01] [-3.95193694e-02 9.99218794e-01 -1.44056950e-04 5.63555932e-01] [-4.03520919e-03 -1.54251950e-05 9.99991858e-01 -1.35828190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.19, Y:0.56, Z:-1.36 [[ 9.98981968e-01 4.48706780e-02 4.65293455e-03 5.11852391e+01] [-4.48703896e-02 9.98992803e-01 -1.66409201e-04 5.59929785e-01] [-4.65571502e-03 -4.25391947e-05 9.99989161e-01 -1.35733640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.22, Y:0.56, Z:-1.36 [[ 9.98847309e-01 4.78124233e-02 4.24569809e-03 5.12159896e+01] [-4.78122199e-02 9.98856331e-01 -1.49446874e-04 5.58180189e-01] [-4.24798783e-03 -5.37216433e-05 9.99990976e-01 -1.35798902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.25, Y:0.56, Z:-1.36 [[ 9.98548004e-01 5.37155176e-02 4.06523456e-03 5.12468376e+01] [-5.37153680e-02 9.98556277e-01 -1.46055085e-04 5.55523633e-01] [-4.06721091e-03 -7.25225563e-05 9.99991726e-01 -1.35929695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:0.55, Z:-1.36 [[ 9.98394545e-01 5.64386924e-02 4.79660621e-03 5.12779180e+01] [-5.64385146e-02 9.98406062e-01 -1.72542037e-04 5.52614112e-01] [-4.79869877e-03 -9.84483013e-05 9.99988481e-01 -1.35988259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:0.55, Z:-1.36 [[ 9.98238674e-01 5.90814596e-02 5.37872779e-03 5.13085382e+01] [-5.90812853e-02 9.98253157e-01 -1.91422029e-04 5.48441515e-01] [-5.38064149e-03 -1.26697279e-04 9.99985516e-01 -1.36076100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:0.54, Z:-1.36 [[ 9.97988231e-01 6.33076638e-02 3.41048420e-03 5.13405762e+01] [-6.33076217e-02 9.97994053e-01 -1.20392355e-04 5.41312758e-01] [-3.41126471e-03 -9.57594905e-05 9.99994177e-01 -1.36247709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.37, Y:0.54, Z:-1.36 [[ 9.97876059e-01 6.51112788e-02 1.97293768e-03 5.13719606e+01] [-6.51112650e-02 9.97878008e-01 -7.13217627e-05 5.39001993e-01] [-1.97339498e-03 -5.72901887e-05 9.99998051e-01 -1.36380940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.40, Y:0.54, Z:-1.36 [[ 9.97748004e-01 6.70678269e-02 9.08989978e-04 5.14021291e+01] [-6.70678245e-02 9.97748418e-01 -3.31067578e-05 5.38525590e-01] [-9.09163711e-04 -2.79317789e-05 9.99999586e-01 -1.36490674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:0.54, Z:-1.37 [[ 9.97438978e-01 7.15225596e-02 -9.50325593e-05 5.14319114e+01] [-7.15225597e-02 9.97438982e-01 3.19268596e-06 5.40135709e-01] [ 9.50175283e-05 3.61246247e-06 9.99999995e-01 -1.36643533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:0.54, Z:-1.37 [[ 9.97260991e-01 7.39622515e-02 3.17522295e-04 5.14616516e+01] [-7.39622514e-02 9.97261042e-01 -1.20995679e-05 5.38829806e-01] [-3.17547526e-04 -1.14182367e-05 9.99999950e-01 -1.36758525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.49, Y:0.54, Z:-1.37 [[ 9.97076303e-01 7.64106951e-02 5.01858901e-04 5.14911079e+01] [-7.64106957e-02 9.97076429e-01 -1.79979295e-05 5.36590976e-01] [-5.01766915e-04 -2.04020788e-05 9.99999874e-01 -1.36832820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.52, Y:0.53, Z:-1.37 [[ 9.96826195e-01 7.96044388e-02 8.19246524e-04 5.15201168e+01] [-7.96044405e-02 9.96826531e-01 -3.05899365e-05 5.33460905e-01] [-8.19081765e-04 -3.47228112e-05 9.99999664e-01 -1.36843302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.55, Y:0.53, Z:-1.37 [[ 9.96827105e-01 7.95930349e-02 8.19266356e-04 5.15502562e+01] [-7.95930371e-02 9.96827441e-01 -3.00446009e-05 5.32403755e-01] [-8.19058526e-04 -3.52586249e-05 9.99999664e-01 -1.36912700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:0.53, Z:-1.37 [[ 9.96767966e-01 8.03206010e-02 1.49075510e-03 5.15797094e+01] [-8.03206089e-02 9.96769079e-01 -5.46957346e-05 5.32111736e-01] [-1.49033179e-03 -6.52194015e-05 9.99998887e-01 -1.36894778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:0.53, Z:-1.37 [[ 9.96729849e-01 8.07532932e-02 2.91776471e-03 5.16093751e+01] [-8.07533275e-02 9.96734111e-01 -1.06230645e-04 5.33737896e-01] [-2.91681409e-03 -1.29735955e-04 9.99995738e-01 -1.36955711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.64, Y:0.54, Z:-1.37 [[ 9.96697188e-01 8.11282824e-02 3.59409152e-03 5.16397875e+01] [-8.11283381e-02 9.96703655e-01 -1.30524475e-04 5.35731213e-01] [-3.59283338e-03 -1.61489295e-04 9.99993533e-01 -1.37026326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.67, Y:0.54, Z:-1.37 [[ 9.96764333e-01 8.03170632e-02 3.16767615e-03 5.16706804e+01] [-8.03171024e-02 9.96769356e-01 -1.15038603e-04 5.39401865e-01] [-3.16668208e-03 -1.39752193e-04 9.99994976e-01 -1.37189457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.70, Y:0.54, Z:-1.37 [[ 9.96844654e-01 7.93280010e-02 2.79366323e-03 5.16996877e+01] [-7.93280269e-02 9.96848561e-01 -1.01691516e-04 5.38638598e-01] [-2.79292616e-03 -1.20245148e-04 9.99996093e-01 -1.37315955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.73, Y:0.54, Z:-1.37 [[ 9.96944828e-01 7.80803043e-02 2.11556795e-03 5.17292071e+01] [-7.80803163e-02 9.96947069e-01 -7.70452473e-05 5.37412753e-01] [-2.11512498e-03 -8.83743538e-05 9.99997759e-01 -1.37418922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.76, Y:0.54, Z:-1.38 [[ 9.97220256e-01 7.44964780e-02 -1.42710556e-03 5.17596394e+01] [-7.44964801e-02 9.97221275e-01 5.17942609e-05 5.36441276e-01] [ 1.42699852e-03 5.46640551e-05 9.99998980e-01 -1.37568367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:0.54, Z:-1.38 [[ 9.97384686e-01 7.22331996e-02 -2.48046497e-03 5.17896441e+01] [-7.22332002e-02 9.97387767e-01 8.94365984e-05 5.36781264e-01] [ 2.48044570e-03 8.99692289e-05 9.99996920e-01 -1.37669992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.82, Y:0.54, Z:-1.38 [[ 9.97530549e-01 7.01869953e-02 -2.56704238e-03 5.18191504e+01] [-7.01869894e-02 9.97533848e-01 9.25142227e-05 5.37931664e-01] [ 2.56720496e-03 8.78872128e-05 9.99996701e-01 -1.37726061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.85, Y:0.54, Z:-1.38 [[ 9.97828377e-01 6.58457944e-02 -1.69162141e-03 5.18480695e+01] [-6.58457865e-02 9.97829810e-01 6.04232075e-05 5.44796015e-01] [ 1.69192889e-03 5.10941513e-05 9.99998567e-01 -1.37710829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.88, Y:0.55, Z:-1.38 [[ 9.97975877e-01 6.35917876e-02 -4.83727566e-04 5.18772649e+01] [-6.35917870e-02 9.97975994e-01 1.66665788e-05 5.47655334e-01] [ 4.83808356e-04 1.41282568e-05 9.99999883e-01 -1.37708859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:0.55, Z:-1.38 [[ 9.98111332e-01 6.14216441e-02 1.07240071e-03 5.19065532e+01] [-6.14216373e-02 9.98111908e-01 -3.93298781e-05 5.48609844e-01] [-1.07279163e-03 -2.66130105e-05 9.99999424e-01 -1.37760703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:0.55, Z:-1.38 [[ 9.98295819e-01 5.82863462e-02 2.85648184e-03 5.19358091e+01] [-5.82862886e-02 9.98299904e-01 -1.03506628e-04 5.47405335e-01] [-2.85765856e-03 -6.31634906e-05 9.99995915e-01 -1.37774030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.97, Y:0.55, Z:-1.38 [[ 9.98387570e-01 5.66623366e-02 3.41181140e-03 5.19667149e+01] [-5.66622460e-02 9.98393397e-01 -1.23295845e-04 5.46563810e-01] [-3.41331620e-03 -7.02238575e-05 9.99994172e-01 -1.37820890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.00, Y:0.55, Z:-1.38 [[ 9.98497318e-01 5.46625817e-02 3.88682662e-03 5.19974666e+01] [-5.46624489e-02 9.98504881e-01 -1.40461918e-04 5.47139809e-01] [-3.88869336e-03 -7.22126130e-05 9.99992436e-01 -1.37872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.03, Y:0.55, Z:-1.38 [[ 9.98747342e-01 4.98451173e-02 4.38310012e-03 5.20277751e+01] [-4.98449020e-02 9.98756958e-01 -1.58396221e-04 5.51473687e-01] [-4.38554702e-03 -6.02773910e-05 9.99990382e-01 -1.37983853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.06, Y:0.55, Z:-1.38 [[ 9.98868616e-01 4.73664181e-02 4.23215097e-03 5.20589769e+01] [-4.73661971e-02 9.98877580e-01 -1.52492871e-04 5.52503595e-01] [-4.23462376e-03 -4.81405544e-05 9.99991033e-01 -1.38061419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:0.55, Z:-1.38 [[ 9.98974855e-01 4.51151488e-02 3.72328472e-03 5.20904239e+01] [-4.51149621e-02 9.98981793e-01 -1.34168108e-04 5.52909470e-01] [-3.72554666e-03 -3.39452828e-05 9.99993060e-01 -1.38118900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:0.55, Z:-1.38 [[ 9.99061239e-01 4.31719535e-02 3.58092218e-03 5.21215707e+01] [-4.31717680e-02 9.99067656e-01 -1.29104267e-04 5.52388993e-01] [-3.58315721e-03 -2.56116724e-05 9.99993580e-01 -1.38231995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.15, Y:0.55, Z:-1.38 [[ 9.99170678e-01 4.06995498e-02 1.22566020e-03 5.21517013e+01] [-4.06995263e-02 9.99171430e-01 -4.41167585e-05 5.50142201e-01] [-1.22644019e-03 -5.80361803e-06 9.99999248e-01 -1.38357923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.18, Y:0.55, Z:-1.38 [[ 9.99183724e-01 4.03964925e-02 9.03008168e-05 5.21826157e+01] [-4.03964924e-02 9.99183729e-01 -3.27097951e-06 5.48003935e-01] [-9.03592429e-05 -3.79526768e-07 9.99999996e-01 -1.38379093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.21, Y:0.55, Z:-1.38 [[ 9.99166974e-01 4.08085867e-02 1.35025178e-04 5.22124743e+01] [-4.08085863e-02 9.99166983e-01 -5.44706348e-06 5.47215822e-01] [-1.35134986e-04 -6.76606931e-08 9.99999991e-01 -1.38413670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.24, Y:0.55, Z:-1.38 [[ 9.99056517e-01 4.34189318e-02 9.34336870e-04 5.22415644e+01] [-4.34189184e-02 9.99056953e-01 -3.46228619e-05 5.49236725e-01] [-9.34959035e-04 -5.97770054e-06 9.99999563e-01 -1.38434102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:0.55, Z:-1.38 [[ 9.98986088e-01 4.49640664e-02 2.24227479e-03 5.22701668e+01] [-4.49639960e-02 9.98988605e-01 -8.18187484e-05 5.48643324e-01] [-2.24368587e-03 -1.90858434e-05 9.99997483e-01 -1.38448437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.30, Y:0.55, Z:-1.38 [[ 9.98909773e-01 4.65710220e-02 3.22561321e-03 5.22993501e+01] [-4.65708877e-02 9.98914981e-01 -1.16763230e-04 5.47122755e-01] [-3.22755114e-03 -3.35837395e-05 9.99994791e-01 -1.38442233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.33, Y:0.55, Z:-1.38 [[ 9.98790960e-01 4.88668525e-02 5.35245044e-03 5.23298333e+01] [-4.88665181e-02 9.98805299e-01 -1.93306346e-04 5.47521423e-01] [-5.35550214e-03 -6.84829858e-05 9.99985657e-01 -1.38384092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.36, Y:0.55, Z:-1.38 [[ 9.98745620e-01 4.96842440e-02 6.21787218e-03 5.23607782e+01] [-4.96838112e-02 9.98764972e-01 -2.24145905e-04 5.47831879e-01] [-6.22132946e-03 -8.50628468e-05 9.99980644e-01 -1.38424901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.39, Y:0.55, Z:-1.39 [[ 9.98686466e-01 5.08505835e-02 6.28974264e-03 5.23915953e+01] [-5.08501770e-02 9.98706268e-01 -2.24631458e-04 5.46348381e-01] [-6.29302804e-03 -9.54981301e-05 9.99980194e-01 -1.38525931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:0.54, Z:-1.39 [[ 9.98628636e-01 5.20275594e-02 5.82928300e-03 5.24230603e+01] [-5.20272127e-02 9.98645645e-01 -2.11202808e-04 5.44563547e-01] [-5.83237645e-03 -9.23681741e-05 9.99982987e-01 -1.38621390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:0.55, Z:-1.39 [[ 9.98490306e-01 5.47288017e-02 4.67618098e-03 5.24536403e+01] [-5.47286072e-02 9.98501252e-01 -1.69645253e-04 5.45444087e-01] [-4.67845705e-03 -8.65317317e-05 9.99989052e-01 -1.38709263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:0.55, Z:-1.39 [[ 9.98426233e-01 5.58518402e-02 5.06246073e-03 5.24837981e+01] [-5.58516252e-02 9.98439063e-01 -1.83950528e-04 5.45554840e-01] [-5.06483252e-03 -9.90856265e-05 9.99987169e-01 -1.38828094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.51, Y:0.54, Z:-1.39 [[ 9.98368612e-01 5.68435625e-02 5.37810632e-03 5.25144681e+01] [-5.68433342e-02 9.98383091e-01 -1.95419886e-04 5.44104423e-01] [-5.38051877e-03 -1.10608415e-04 9.99985519e-01 -1.38906267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.54, Y:0.54, Z:-1.39 [[ 9.98334749e-01 5.75354071e-02 4.17200796e-03 5.25446503e+01] [-5.75352758e-02 9.98343462e-01 -1.51594868e-04 5.42120379e-01] [-4.17381895e-03 -8.86952038e-05 9.99991286e-01 -1.38936191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:0.54, Z:-1.39 [[ 9.98332472e-01 5.76001753e-02 3.80730804e-03 5.25747835e+01] [-5.76000664e-02 9.98339728e-01 -1.38343063e-04 5.42346980e-01] [-3.80895546e-03 -8.11888239e-05 9.99992743e-01 -1.38966854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:0.54, Z:-1.39 [[ 9.98380963e-01 5.66341383e-02 5.29406424e-03 5.26043176e+01] [-5.66339130e-02 9.98394993e-01 -1.92582811e-04 5.41327169e-01] [-5.29647399e-03 -1.07552561e-04 9.99985968e-01 -1.39052136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.63, Y:0.54, Z:-1.39 [[ 9.98414235e-01 5.59417366e-02 6.28788057e-03 5.26345481e+01] [-5.59414071e-02 9.98434027e-01 -2.28400604e-04 5.38235566e-01] [-6.29081105e-03 -1.23714473e-04 9.99980205e-01 -1.39090642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:0.54, Z:-1.39 [[ 9.98463781e-01 5.49533698e-02 7.08554764e-03 5.26662264e+01] [-5.49529292e-02 9.98488913e-01 -2.56999192e-04 5.36021125e-01] [-7.08896374e-03 -1.32767213e-04 9.99974864e-01 -1.39091266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:0.53, Z:-1.39 [[ 9.98508364e-01 5.39287292e-02 8.52872687e-03 5.26970771e+01] [-5.39280593e-02 9.98544776e-01 -3.08673984e-04 5.34911910e-01] [-8.53296205e-03 -1.51724133e-04 9.99963582e-01 -1.39148277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.73, Y:0.53, Z:-1.39 [[ 9.98632432e-01 5.14030172e-02 9.53913234e-03 5.27299143e+01] [-5.14020661e-02 9.98677980e-01 -3.45011911e-04 5.32392980e-01] [-9.54425608e-03 -1.45791028e-04 9.99954442e-01 -1.39203965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.76, Y:0.53, Z:-1.39 [[ 9.98713597e-01 5.00193416e-02 8.31969494e-03 5.27631584e+01] [-5.00185620e-02 9.98748243e-01 -3.01892032e-04 5.28734724e-01] [-8.32438114e-03 -1.14635500e-04 9.99965345e-01 -1.39320984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:0.52, Z:-1.40 [[ 9.98842239e-01 4.76432970e-02 6.65560589e-03 5.27947258e+01] [-4.76427400e-02 9.98864411e-01 -2.42300799e-04 5.22276471e-01] [-6.65959186e-03 -7.50710282e-05 9.99977822e-01 -1.39512079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.83, Y:0.52, Z:-1.40 [[ 9.98862262e-01 4.72205204e-02 6.66360165e-03 5.28255940e+01] [-4.72199436e-02 9.98884487e-01 -2.43959724e-04 5.19423809e-01] [-6.66768822e-03 -7.09727319e-05 9.99977768e-01 -1.39571349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.86, Y:0.52, Z:-1.40 [[ 9.98853882e-01 4.74088845e-02 6.58181414e-03 5.28581344e+01] [-4.74083206e-02 9.98875564e-01 -2.41761783e-04 5.16074731e-01] [-6.58587497e-03 -7.05480600e-05 9.99978310e-01 -1.39641371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:0.51, Z:-1.40 [[ 9.98836921e-01 4.78282662e-02 6.10432388e-03 5.28903405e+01] [-4.78277842e-02 9.98855571e-01 -2.24992124e-04 5.12351670e-01] [-6.10809890e-03 -6.72258444e-05 9.99981343e-01 -1.39693055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.92, Y:0.51, Z:-1.40 [[ 9.98796364e-01 4.87213082e-02 5.66191774e-03 5.29212005e+01] [-4.87209028e-02 9.98812410e-01 -2.09592615e-04 5.09760804e-01] [-5.66540532e-03 -6.65134015e-05 9.99983949e-01 -1.39779303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.95, Y:0.51, Z:-1.40 [[ 9.98664373e-01 5.14631393e-02 4.58415502e-03 5.29520127e+01] [-5.14628911e-02 9.98674893e-01 -1.72169270e-04 5.07050076e-01] [-4.58694090e-03 -6.39745550e-05 9.99989478e-01 -1.39900482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.98, Y:0.50, Z:-1.40 [[ 9.98587795e-01 5.29429231e-02 4.41158463e-03 5.29829271e+01] [-5.29427073e-02 9.98597538e-01 -1.65776904e-04 5.03292696e-01] [-4.41417426e-03 -6.80184405e-05 9.99990255e-01 -1.40004541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:0.50, Z:-1.40 [[ 9.98414855e-01 5.61339470e-02 4.09361413e-03 5.30140393e+01] [-5.61337980e-02 9.98423244e-01 -1.51377373e-04 4.96455286e-01] [-4.09565691e-03 -7.86526910e-05 9.99991610e-01 -1.40184868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.05, Y:0.49, Z:-1.40 [[ 9.98319085e-01 5.78299984e-02 3.83346839e-03 5.30456003e+01] [-5.78298690e-02 9.98326442e-01 -1.44695027e-04 4.93941088e-01] [-3.83542057e-03 -7.72371677e-05 9.99992642e-01 -1.40283962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594203822000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:53.08, Y:0.49, Z:-1.40 [[ 9.98234122e-01 5.93086049e-02 3.33581121e-03 5.30770017e+01] [-5.93085151e-02 9.98239693e-01 -1.25914260e-04 4.91561524e-01] [-3.33740696e-03 -7.21500990e-05 9.99994428e-01 -1.40415170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:0.49, Z:-1.41 [[ 9.98101751e-01 6.15568470e-02 1.91044952e-03 5.31085608e+01] [-6.15568221e-02 9.98103578e-01 -7.19037508e-05 4.87167768e-01] [-1.91125267e-03 -4.58339413e-05 9.99998173e-01 -1.40507158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.14, Y:0.49, Z:-1.41 [[ 9.98015761e-01 6.29493795e-02 1.38452238e-03 5.31380604e+01] [-6.29493669e-02 9.98016721e-01 -5.27822433e-05 4.85754968e-01] [-1.38509909e-03 -3.44772963e-05 9.99999040e-01 -1.40583046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.17, Y:0.49, Z:-1.41 [[ 9.97937494e-01 6.41866718e-02 9.10475168e-04 5.31685344e+01] [-6.41866670e-02 9.97937909e-01 -3.45256092e-05 4.85384313e-01] [-9.10813769e-04 -2.39859664e-05 9.99999585e-01 -1.40591770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.20, Y:0.49, Z:-1.41 [[ 9.97740430e-01 6.71530807e-02 2.12077175e-03 5.31976990e+01] [-6.71530608e-02 9.97742682e-01 -8.06627799e-05 4.85918303e-01] [-2.12140125e-03 -6.19357974e-05 9.99997748e-01 -1.40606288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:0.49, Z:-1.41 [[ 9.97654654e-01 6.83740844e-02 3.18984812e-03 5.32284356e+01] [-6.83740469e-02 9.97659749e-01 -1.20923379e-04 4.85378775e-01] [-3.19065110e-03 -9.74630531e-05 9.99994905e-01 -1.40610736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:0.48, Z:-1.41 [[ 9.97596357e-01 6.91826362e-02 3.90792703e-03 5.32585146e+01] [-6.91825861e-02 9.97604004e-01 -1.48144903e-04 4.84195909e-01] [-3.90881270e-03 -1.22571683e-04 9.99992353e-01 -1.40751808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.29, Y:0.48, Z:-1.41 [[ 9.97586326e-01 6.93446794e-02 3.58301990e-03 5.32889325e+01] [-6.93446384e-02 9.97592754e-01 -1.35828057e-04 4.82842130e-01] [-3.58381365e-03 -1.12963007e-04 9.99993572e-01 -1.40810991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.32, Y:0.48, Z:-1.41 [[ 9.97654753e-01 6.83664967e-02 3.31896670e-03 5.33187595e+01] [-6.83664553e-02 9.97660269e-01 -1.26057073e-04 4.84236531e-01] [-3.31981929e-03 -1.01144550e-04 9.99994484e-01 -1.40888263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.35, Y:0.48, Z:-1.41 [[ 9.97696024e-01 6.77471826e-02 3.60034504e-03 5.33495766e+01] [-6.77471310e-02 9.97702515e-01 -1.36441085e-04 4.84677963e-01] [-3.60131680e-03 -1.07786319e-04 9.99993509e-01 -1.40991211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:53.38, Y:0.49, Z:-1.41 [[ 9.97774677e-01 6.65699986e-02 3.75876882e-03 5.33796397e+01] [-6.65699340e-02 9.97781751e-01 -1.42444818e-04 4.85056346e-01] [-3.75991349e-03 -1.08093160e-04 9.99992926e-01 -1.41044268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.41, Y:0.49, Z:-1.41 [[ 9.98002715e-01 6.30671119e-02 3.62219779e-03 5.34096207e+01] [-6.30670280e-02 9.98009284e-01 -1.37499519e-04 4.86320136e-01] [-3.62365872e-03 -9.12163561e-05 9.99993430e-01 -1.41128261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.44, Y:0.49, Z:-1.41 [[ 9.98134220e-01 6.09694741e-02 3.28655528e-03 5.34399730e+01] [-6.09693945e-02 9.98139628e-01 -1.24510410e-04 4.85519981e-01] [-3.28803240e-03 -7.61011846e-05 9.99994592e-01 -1.41251905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.47, Y:0.48, Z:-1.41 [[ 9.98236796e-01 5.92944164e-02 2.73318849e-03 5.34690083e+01] [-5.92943544e-02 9.98240537e-01 -1.03786871e-04 4.84569266e-01] [-2.73453353e-03 -5.84587734e-05 9.99996259e-01 -1.41323344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.50, Y:0.48, Z:-1.41 [[ 9.98236113e-01 5.93059179e-02 2.73320767e-03 5.34999787e+01] [-5.93058573e-02 9.98239853e-01 -1.03280565e-04 4.83389807e-01] [-2.73452197e-03 -5.89968348e-05 9.99996259e-01 -1.41394664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:0.48, Z:-1.42 [[ 9.98340785e-01 5.75402651e-02 2.18987464e-03 5.35299887e+01] [-5.75402214e-02 9.98343186e-01 -8.29621827e-05 4.83536855e-01] [-2.19102009e-03 -4.31813409e-05 9.99997599e-01 -1.41508538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.56, Y:0.48, Z:-1.42 [[ 9.98391056e-01 5.66762487e-02 1.76126654e-03 5.35603482e+01] [-5.66762191e-02 9.98392609e-01 -6.67246033e-05 4.82459567e-01] [-1.76221719e-03 -3.32046811e-05 9.99998447e-01 -1.41635092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.59, Y:0.48, Z:-1.42 [[ 9.98451829e-01 5.56202153e-02 5.79825358e-04 5.35897463e+01] [-5.56202117e-02 9.98451998e-01 -2.22412952e-05 4.81559274e-01] [-5.80164852e-04 -1.00431473e-05 9.99999832e-01 -1.41734512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.62, Y:0.48, Z:-1.42 [[ 9.98535516e-01 5.40988384e-02 -3.73928655e-04 5.36192350e+01] [-5.40988370e-02 9.98535586e-01 1.38872580e-05 4.82707421e-01] [ 3.74132353e-04 6.36218503e-06 9.99999930e-01 -1.41885377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:0.48, Z:-1.42 [[ 9.98562830e-01 5.35934697e-02 1.21841008e-04 5.36488938e+01] [-5.35934695e-02 9.98562837e-01 -5.17365792e-06 4.82910329e-01] [-1.21943177e-04 -1.36365987e-06 9.99999993e-01 -1.41915086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:0.48, Z:-1.42 [[ 9.98569078e-01 5.34697866e-02 8.82306081e-04 5.36784328e+01] [-5.34697777e-02 9.98569468e-01 -3.36520565e-05 4.82612258e-01] [-8.82843281e-04 -1.35728070e-05 9.99999610e-01 -1.41945172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.71, Y:0.48, Z:-1.42 [[ 9.98553821e-01 5.37544003e-02 8.55208587e-04 5.37091455e+01] [-5.37543923e-02 9.98554187e-01 -3.23471737e-05 4.82765423e-01] [-8.55710919e-04 -1.36708240e-05 9.99999634e-01 -1.41901906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.74, Y:0.48, Z:-1.42 [[ 9.98537321e-01 5.40508916e-02 1.31138384e-03 5.37386309e+01] [-5.40508727e-02 9.98538182e-01 -4.98543600e-05 4.82477360e-01] [-1.31216151e-03 -2.11000018e-05 9.99999139e-01 -1.41940641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:0.48, Z:-1.42 [[ 9.98525161e-01 5.42503918e-02 2.09723567e-03 5.37694462e+01] [-5.42503449e-02 9.98527363e-01 -7.93007868e-05 4.81956655e-01] [-2.09844930e-03 -3.45919275e-05 9.99997798e-01 -1.42013033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:0.48, Z:-1.42 [[ 9.98520332e-01 5.43460649e-02 1.91093177e-03 5.37996669e+01] [-5.43460261e-02 9.98522160e-01 -7.22562536e-05 4.83346660e-01] [-1.91203456e-03 -3.17022092e-05 9.99998172e-01 -1.42020403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.83, Y:0.48, Z:-1.42 [[ 9.98519363e-01 5.43840982e-02 1.20517263e-03 5.38296301e+01] [-5.43840825e-02 9.98520090e-01 -4.58379119e-05 4.84282070e-01] [-1.20588194e-03 -1.97721651e-05 9.99999273e-01 -1.42114679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.86, Y:0.48, Z:-1.42 [[ 9.98514818e-01 5.44725719e-02 9.47193693e-04 5.38597843e+01] [-5.44725619e-02 9.98515267e-01 -3.63477596e-05 4.84882150e-01] [-9.47767319e-04 -1.53022905e-05 9.99999551e-01 -1.42242961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.89, Y:0.48, Z:-1.42 [[ 9.98537376e-01 5.40481208e-02 1.38163191e-03 5.38896876e+01] [-5.40480996e-02 9.98538332e-01 -5.27247393e-05 4.83839577e-01] [-1.38246209e-03 -2.20269560e-05 9.99999044e-01 -1.42327170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:0.48, Z:-1.42 [[ 9.98560268e-01 5.36127676e-02 1.74968073e-03 5.39193124e+01] [-5.36127337e-02 9.98561801e-01 -6.63116747e-05 4.83245262e-01] [-1.75071949e-03 -2.75889631e-05 9.99998467e-01 -1.42305533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:0.48, Z:-1.42 [[ 9.98596304e-01 5.28999738e-02 2.64829739e-03 5.39502380e+01] [-5.28998948e-02 9.98599815e-01 -9.99417015e-05 4.83669728e-01] [-2.64987620e-03 -4.02932395e-05 9.99996488e-01 -1.42343270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:0.48, Z:-1.42 [[ 9.98641099e-01 5.19678992e-02 3.91055355e-03 5.39800259e+01] [-5.19677205e-02 9.98648754e-01 -1.47360312e-04 4.83931039e-01] [-3.91292743e-03 -5.60624901e-05 9.99992343e-01 -1.42375019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.01, Y:0.48, Z:-1.42 [[ 9.98812414e-01 4.84814694e-02 4.82793491e-03 5.40102349e+01] [-4.84811558e-02 9.98824081e-01 -1.82039725e-04 4.84423938e-01] [-4.83108320e-03 -5.22403270e-05 9.99988329e-01 -1.42431334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.04, Y:0.48, Z:-1.42 [[ 9.98919388e-01 4.62447980e-02 4.63409735e-03 5.40420519e+01] [-4.62444859e-02 9.98930136e-01 -1.74550910e-04 4.83915439e-01] [-4.63721157e-03 -3.99391611e-05 9.99989247e-01 -1.42476867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:0.48, Z:-1.43 [[ 9.99023086e-01 4.38956009e-02 5.10393401e-03 5.40724357e+01] [-4.38951896e-02 9.99036123e-01 -1.92639455e-04 4.83172209e-01] [-5.10747047e-03 -3.15868875e-05 9.99986956e-01 -1.42568218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.10, Y:0.48, Z:-1.43 [[ 9.99274103e-01 3.76738538e-02 5.65217067e-03 5.41047151e+01] [-3.76732642e-02 9.99290088e-01 -2.10787940e-04 4.80506327e-01] [-5.65609933e-03 -2.30078911e-06 9.99984004e-01 -1.42666879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:0.48, Z:-1.43 [[ 9.99390119e-01 3.45799183e-02 4.85992901e-03 5.41372799e+01] [-3.45794446e-02 9.99401936e-01 -1.81491139e-04 4.78071503e-01] [-4.86329841e-03 1.33268045e-05 9.99988174e-01 -1.42731679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:0.48, Z:-1.43 [[ 9.99529408e-01 3.03289020e-02 4.59563792e-03 5.41678831e+01] [-3.03284299e-02 9.99539972e-01 -1.72415201e-04 4.75649452e-01] [-4.59875297e-03 3.29555812e-05 9.99989425e-01 -1.42834750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.20, Y:0.47, Z:-1.43 [[ 9.99568849e-01 2.89335745e-02 4.99649120e-03 5.41986950e+01] [-2.89329820e-02 9.99581335e-01 -1.90831268e-04 4.72930425e-01] [-4.99992078e-03 4.61856007e-05 9.99987499e-01 -1.42918720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.23, Y:0.47, Z:-1.43 [[ 9.99594018e-01 2.80423984e-02 5.04206134e-03 5.42294432e+01] [-2.80417894e-02 9.99606733e-01 -1.91459402e-04 4.69567183e-01] [-5.04544745e-03 4.99932510e-05 9.99987270e-01 -1.42946570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.26, Y:0.47, Z:-1.43 [[ 9.99580475e-01 2.86846921e-02 4.00777162e-03 5.42617746e+01] [-2.86843186e-02 9.99588509e-01 -1.50650338e-04 4.66338449e-01] [-4.01044381e-03 3.56269387e-05 9.99991958e-01 -1.42906832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:0.46, Z:-1.43 [[ 9.99557140e-01 2.95841369e-02 3.20963417e-03 5.42930572e+01] [-2.95839020e-02 9.99562293e-01 -1.20670145e-04 4.64284951e-01] [-3.21179921e-03 2.56632028e-05 9.99994842e-01 -1.43031626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.32, Y:0.46, Z:-1.43 [[ 9.99534308e-01 3.04374118e-02 2.17507473e-03 5.43239440e+01] [-3.04373017e-02 9.99536674e-01 -8.37186861e-05 4.61569395e-01] [-2.17661514e-03 1.74762934e-05 9.99997631e-01 -1.43135840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.35, Y:0.46, Z:-1.43 [[ 9.99497739e-01 3.16328096e-02 1.90658515e-03 5.43545936e+01] [-3.16327262e-02 9.99499557e-01 -7.38745956e-05 4.58614583e-01] [-1.90796787e-03 1.35270053e-05 9.99998180e-01 -1.43223388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.38, Y:0.45, Z:-1.43 [[ 9.99370684e-01 3.53712708e-02 2.66612001e-03 5.43835153e+01] [-3.53711204e-02 9.99374241e-01 -1.03551388e-04 4.54356961e-01] [-2.66811440e-03 9.18256948e-06 9.99996441e-01 -1.43237323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:0.45, Z:-1.43 [[ 9.99301458e-01 3.72738865e-02 2.69311108e-03 5.44141199e+01] [-3.72737407e-02 9.99305087e-01 -1.04317429e-04 4.51065595e-01] [-2.69512792e-03 3.86223461e-06 9.99996368e-01 -1.43292812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:0.45, Z:-1.43 [[ 9.99225464e-01 3.92598609e-02 2.67124335e-03 5.44445276e+01] [-3.92597252e-02 9.99229034e-01 -1.03226602e-04 4.47136443e-01] [-2.67323658e-03 -1.72563065e-06 9.99996427e-01 -1.43416738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:0.44, Z:-1.43 [[ 9.99048770e-01 4.35145096e-02 2.83604514e-03 5.44757630e+01] [-4.35143743e-02 9.99052795e-01 -1.09418366e-04 4.41719919e-01] [-2.83812011e-03 -1.40944456e-05 9.99995972e-01 -1.43399274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:0.44, Z:-1.43 [[ 9.98955780e-01 4.55190365e-02 3.92007387e-03 5.45068556e+01] [-4.55187923e-02 9.98963471e-01 -1.51537526e-04 4.39531146e-01] [-3.92290844e-03 -2.70577413e-05 9.99992305e-01 -1.43467918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:0.44, Z:-1.43 [[ 9.98740348e-01 4.99568559e-02 4.69361335e-03 5.45380101e+01] [-4.99565539e-02 9.98751375e-01 -1.81648898e-04 4.36375828e-01] [-4.69682740e-03 -5.30566644e-05 9.99988968e-01 -1.43422964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:0.43, Z:-1.44 [[ 9.98621568e-01 5.23046163e-02 4.38073001e-03 5.45691358e+01] [-5.23043810e-02 9.98631175e-01 -1.68337294e-04 4.34849206e-01] [-4.38353838e-03 -6.10261187e-05 9.99990390e-01 -1.43542107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.60, Y:0.43, Z:-1.44 [[ 9.98508567e-01 5.44480683e-02 4.00614497e-03 5.46001594e+01] [-5.44478828e-02 9.98516602e-01 -1.55434045e-04 4.32800653e-01] [-4.00866534e-03 -6.29238864e-05 9.99991963e-01 -1.43621381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:0.43, Z:-1.44 [[ 9.98319244e-01 5.77889955e-02 4.37246941e-03 5.46308839e+01] [-5.77888059e-02 9.98328816e-01 -1.69796171e-04 4.27006232e-01] [-4.37497456e-03 -8.31690007e-05 9.99990426e-01 -1.43758699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:0.42, Z:-1.44 [[ 9.98244902e-01 5.90662690e-02 4.27677400e-03 5.46623725e+01] [-5.90660989e-02 9.98254060e-01 -1.66171653e-04 4.24005827e-01] [-4.27912215e-03 -8.67323511e-05 9.99990841e-01 -1.43818817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:0.42, Z:-1.44 [[ 9.98166162e-01 6.03696943e-02 4.45114456e-03 5.46936191e+01] [-6.03695225e-02 9.98176082e-01 -1.73069408e-04 4.22703438e-01] [-4.45347418e-03 -9.59614448e-05 9.99990079e-01 -1.43883627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:0.42, Z:-1.44 [[ 9.98111004e-01 6.12853752e-02 4.30416363e-03 5.47245083e+01] [-6.12852227e-02 9.98120280e-01 -1.67427434e-04 4.22163473e-01] [-4.30633386e-03 -9.66704628e-05 9.99990723e-01 -1.43952793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.76, Y:0.42, Z:-1.44 [[ 9.98118407e-01 6.12405133e-02 3.04062093e-03 5.47554834e+01] [-6.12404451e-02 9.98123036e-01 -1.15594043e-04 4.20066879e-01] [-3.04199283e-03 -7.08324374e-05 9.99995371e-01 -1.44029754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.79, Y:0.42, Z:-1.44 [[ 9.98159692e-01 6.05297277e-02 3.65793092e-03 5.47859990e+01] [-6.05296088e-02 9.98166392e-01 -1.43317643e-04 4.18043222e-01] [-3.65989868e-03 -7.83592329e-05 9.99993299e-01 -1.44094278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.82, Y:0.42, Z:-1.44 [[ 9.98218281e-01 5.95036198e-02 4.42525369e-03 5.48165902e+01] [-5.95034366e-02 9.98228086e-01 -1.73167644e-04 4.15714884e-01] [-4.42771662e-03 -9.04586942e-05 9.99990194e-01 -1.44209775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:0.41, Z:-1.44 [[ 9.98327924e-01 5.76331667e-02 4.44675870e-03 5.48489946e+01] [-5.76329753e-02 9.98337824e-01 -1.71276219e-04 4.11052239e-01] [-4.44923860e-03 -8.52901027e-05 9.99990098e-01 -1.44248240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:0.41, Z:-1.44 [[ 9.98339655e-01 5.73525147e-02 5.35002693e-03 5.48815250e+01] [-5.73522256e-02 9.98353985e-01 -2.07564933e-04 4.08080647e-01] [-5.35312507e-03 -9.96156477e-05 9.99985667e-01 -1.44236260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.91, Y:0.41, Z:-1.44 [[ 9.98342698e-01 5.71537731e-02 6.73075753e-03 5.49132068e+01] [-5.71532979e-02 9.98365380e-01 -2.63075114e-04 4.05932538e-01] [-6.73479104e-03 -1.22045872e-04 9.99977314e-01 -1.44254607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.95, Y:0.40, Z:-1.44 [[ 9.98365452e-01 5.67605165e-02 6.68335156e-03 5.49454675e+01] [-5.67600309e-02 9.98387815e-01 -2.62461586e-04 4.03868629e-01] [-6.68747421e-03 -1.17314660e-04 9.99977632e-01 -1.44377654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.98, Y:0.40, Z:-1.45 [[ 9.98373842e-01 5.67369407e-02 5.53086724e-03 5.49780380e+01] [-5.67366074e-02 9.98389158e-01 -2.17275932e-04 4.02095027e-01] [-5.53428546e-03 -9.68800360e-05 9.99984681e-01 -1.44505481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.01, Y:0.40, Z:-1.45 [[ 9.98361394e-01 5.69873046e-02 5.19367566e-03 5.50101829e+01] [-5.69870092e-02 9.98374899e-01 -2.04967551e-04 3.98964982e-01] [-5.19691596e-03 -9.13403521e-05 9.99986492e-01 -1.44588842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.04, Y:0.39, Z:-1.45 [[ 9.98274126e-01 5.84714021e-02 5.46477108e-03 5.50424411e+01] [-5.84710919e-02 9.98289079e-01 -2.16659895e-04 3.91649180e-01] [-5.46808969e-03 -1.03245165e-04 9.99985045e-01 -1.44585476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:0.39, Z:-1.45 [[ 9.98201190e-01 5.97918911e-02 4.39481259e-03 5.50749289e+01] [-5.97917035e-02 9.98210860e-01 -1.74175743e-04 3.87998925e-01] [-4.39736395e-03 -8.89108968e-05 9.99990328e-01 -1.44638148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:0.38, Z:-1.45 [[ 9.97970344e-01 6.36487801e-02 2.00621644e-03 5.51054973e+01] [-6.36487513e-02 9.97972360e-01 -7.82906655e-05 3.84640833e-01] [-2.00713166e-03 -4.95614088e-05 9.99997984e-01 -1.44826310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:0.38, Z:-1.45 [[ 9.97811610e-01 6.60932707e-02 1.91606941e-03 5.51370829e+01] [-6.60932434e-02 9.97813448e-01 -7.76191102e-05 3.82477157e-01] [-1.91700992e-03 -4.91899925e-05 9.99998161e-01 -1.44946003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.17, Y:0.38, Z:-1.45 [[ 9.97637386e-01 6.86652851e-02 2.17350261e-03 5.51670814e+01] [-6.86652573e-02 9.97639752e-01 -8.75151550e-05 3.80899444e-01] [-2.17438185e-03 -6.19357252e-05 9.99997634e-01 -1.45029808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:0.38, Z:-1.45 [[ 9.97462914e-01 7.11433159e-02 2.52248929e-03 5.51977076e+01] [-7.11432826e-02 9.97466101e-01 -1.03050554e-04 3.80707544e-01] [-2.52342891e-03 -7.66690627e-05 9.99996813e-01 -1.45093158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.23, Y:0.38, Z:-1.45 [[ 9.97193261e-01 7.48168393e-02 2.83574463e-03 5.52285066e+01] [-7.48168120e-02 9.97197288e-01 -1.15847887e-04 3.80553153e-01] [-2.83646423e-03 -9.66386408e-05 9.99995973e-01 -1.45164544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.26, Y:0.38, Z:-1.45 [[ 9.97106135e-01 7.59565974e-02 3.15464144e-03 5.52586085e+01] [-7.59565701e-02 9.97111119e-01 -1.28642387e-04 3.77759674e-01] [-3.15529929e-03 -1.11345630e-04 9.99995016e-01 -1.45207135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.29, Y:0.38, Z:-1.45 [[ 9.97043883e-01 7.67748569e-02 3.01951995e-03 5.52893942e+01] [-7.67748362e-02 9.97048449e-01 -1.22925328e-04 3.75284595e-01] [-3.02004526e-03 -1.09261203e-04 9.99995434e-01 -1.45243832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:0.38, Z:-1.45 [[ 9.96986980e-01 7.75057569e-02 3.13349206e-03 5.53198902e+01] [-7.75057373e-02 9.96991898e-01 -1.27890747e-04 3.76772595e-01] [-3.13397847e-03 -1.15358203e-04 9.99995082e-01 -1.45306581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:0.38, Z:-1.45 [[ 9.96962889e-01 7.78122487e-02 3.20192864e-03 5.53506062e+01] [-7.78122296e-02 9.96968023e-01 -1.30731348e-04 3.78029315e-01] [-3.20239297e-03 -1.18814904e-04 9.99994865e-01 -1.45408136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.38, Y:0.38, Z:-1.46 [[ 9.96953876e-01 7.79456182e-02 2.72956837e-03 5.53812540e+01] [-7.79456071e-02 9.96957607e-01 -1.10616943e-04 3.78339008e-01] [-2.72988605e-03 -1.02477874e-04 9.99996269e-01 -1.45591434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.41, Y:0.38, Z:-1.46 [[ 9.96973292e-01 7.77367290e-02 1.12043580e-03 5.54114366e+01] [-7.77367265e-02 9.96973921e-01 -4.58962117e-05 3.78083109e-01] [-1.12061309e-03 -4.13417140e-05 9.99999371e-01 -1.45670622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.44, Y:0.38, Z:-1.46 [[ 9.96972353e-01 7.77487706e-02 1.12044662e-03 5.54424029e+01] [-7.77487683e-02 9.96972982e-01 -4.56320386e-05 3.76809444e-01] [-1.12060284e-03 -4.16194639e-05 9.99999371e-01 -1.45741941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:0.38, Z:-1.46 [[ 9.97025066e-01 7.70747447e-02 -7.08005609e-04 5.54721948e+01] [-7.70747437e-02 9.97025317e-01 2.87251356e-05 3.78002141e-01] [ 7.08113499e-04 2.59296706e-05 9.99999749e-01 -1.45938923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:0.38, Z:-1.46 [[ 9.97082542e-01 7.63306712e-02 -1.82609212e-04 5.55020788e+01] [-7.63306712e-02 9.97082559e-01 7.20737040e-06 3.76704189e-01] [ 1.82626603e-04 6.75234048e-06 9.99999983e-01 -1.46039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.53, Y:0.37, Z:-1.46 [[ 9.97306112e-01 7.33454853e-02 9.78731139e-04 5.55329936e+01] [-7.33454813e-02 9.97306592e-01 -4.00801184e-05 3.74466286e-01] [-9.79034712e-04 -3.18133593e-05 9.99999520e-01 -1.45960756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:0.38, Z:-1.46 [[ 9.97440337e-01 7.14901168e-02 1.39179029e-03 5.55638143e+01] [-7.14901068e-02 9.97441307e-01 -5.69953456e-05 3.75729521e-01] [-1.39230373e-03 -4.26497795e-05 9.99999030e-01 -1.46020715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.59, Y:0.38, Z:-1.46 [[ 9.97595557e-01 6.92686459e-02 2.22705985e-03 5.55934414e+01] [-6.92686143e-02 9.97598041e-01 -9.14405701e-05 3.78757888e-01] [-2.22804450e-03 -6.30446429e-05 9.99997516e-01 -1.46116666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:0.38, Z:-1.46 [[ 9.97757192e-01 6.69031325e-02 2.13444945e-03 5.56244060e+01] [-6.69030986e-02 9.97759474e-01 -8.73833725e-05 3.80271462e-01] [-2.13551338e-03 -5.56138933e-05 9.99997718e-01 -1.46239472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:0.38, Z:-1.46 [[ 9.98065661e-01 6.21558890e-02 1.25800284e-03 5.56549352e+01] [-6.21558734e-02 9.98066453e-01 -5.15020540e-05 3.78009595e-01] [-1.25877159e-03 -2.67898337e-05 9.99999207e-01 -1.46364671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.68, Y:0.38, Z:-1.46 [[ 9.98188190e-01 6.01467106e-02 1.64624585e-03 5.56844579e+01] [-6.01466808e-02 9.98189547e-01 -6.76504198e-05 3.75784070e-01] [-1.64733435e-03 -3.14883734e-05 9.99998643e-01 -1.46407812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.72, Y:0.37, Z:-1.46 [[ 9.98391494e-01 5.66496784e-02 2.28891642e-03 5.57152642e+01] [-5.66496125e-02 9.98394117e-01 -9.36799416e-05 3.74016203e-01] [-2.29054762e-03 -3.61369711e-05 9.99997376e-01 -1.46420605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.75, Y:0.37, Z:-1.46 [[ 9.98479503e-01 5.50867575e-02 2.03255771e-03 5.57470098e+01] [-5.50867032e-02 9.98481571e-01 -8.26956187e-05 3.72807465e-01] [-2.03402685e-03 -2.93970230e-05 9.99997931e-01 -1.46422311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:0.37, Z:-1.46 [[ 9.98550659e-01 5.37818439e-02 2.02366610e-03 5.57786473e+01] [-5.37817874e-02 9.98552709e-01 -8.23554355e-05 3.72901116e-01] [-2.02516650e-03 -2.66003058e-05 9.99997949e-01 -1.46385811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:0.38, Z:-1.46 [[ 9.98606165e-01 5.26754917e-02 3.31957891e-03 5.58090315e+01] [-5.26753313e-02 9.98611682e-01 -1.35781523e-04 3.75731130e-01] [-3.32212263e-03 -3.92676528e-05 9.99994481e-01 -1.46448004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.84, Y:0.37, Z:-1.47 [[ 9.98602788e-01 5.27125290e-02 3.72295799e-03 5.58404056e+01] [-5.27123372e-02 9.98609727e-01 -1.49689676e-04 3.73720345e-01] [-3.72567258e-03 -4.67652889e-05 9.99993059e-01 -1.46578796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.87, Y:0.37, Z:-1.47 [[ 9.98591058e-01 5.29459136e-02 3.55386588e-03 5.58722686e+01] [-5.29457399e-02 9.98597380e-01 -1.43024240e-04 3.70113636e-01] [-3.55645371e-03 -4.53393313e-05 9.99993675e-01 -1.46638088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:0.37, Z:-1.47 [[ 9.98537240e-01 5.37721474e-02 5.65125616e-03 5.59028504e+01] [-5.37717023e-02 9.98553229e-01 -2.30785031e-04 3.65086396e-01] [-5.65548989e-03 -7.34302161e-05 9.99984005e-01 -1.46593591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.94, Y:0.36, Z:-1.47 [[ 9.98476873e-01 5.47299447e-02 6.96906255e-03 5.59351618e+01] [-5.47292796e-02 9.98501189e-01 -2.86257295e-04 3.63228227e-01] [-6.97428408e-03 -9.55904843e-05 9.99975675e-01 -1.46646317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.97, Y:0.36, Z:-1.47 [[ 9.98436170e-01 5.54574801e-02 7.04862544e-03 5.59680565e+01] [-5.54568129e-02 9.98461045e-01 -2.90225150e-04 3.61960100e-01] [-7.05387307e-03 -1.01123015e-04 9.99975116e-01 -1.46670681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:0.36, Z:-1.47 [[ 9.98403380e-01 5.62353482e-02 5.31752060e-03 5.60001339e+01] [-5.62349729e-02 9.98417538e-01 -2.20189467e-04 3.60535376e-01] [-5.32148826e-03 -7.91927191e-05 9.99985838e-01 -1.46808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.03, Y:0.36, Z:-1.47 [[ 9.98382692e-01 5.66669155e-02 4.56747484e-03 5.60322566e+01] [-5.66666468e-02 9.98393137e-01 -1.88318213e-04 3.57379702e-01] [-4.57080695e-03 -7.08098395e-05 9.99989551e-01 -1.46932324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:0.35, Z:-1.47 [[ 9.98363716e-01 5.70331197e-02 4.13681711e-03 5.60646098e+01] [-5.70329001e-02 9.98372285e-01 -1.71129023e-04 3.53603304e-01] [-4.13984357e-03 -6.50856703e-05 9.99991429e-01 -1.47075387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:0.35, Z:-1.47 [[ 9.98325511e-01 5.76993979e-02 4.11740427e-03 5.60967612e+01] [-5.76991838e-02 9.98334000e-01 -1.70856821e-04 3.49387025e-01] [-4.12040301e-03 -6.70001429e-05 9.99991509e-01 -1.47177914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:0.34, Z:-1.47 [[ 9.98238319e-01 5.91841865e-02 4.18206858e-03 5.61272581e+01] [-5.91839695e-02 9.98247077e-01 -1.75736720e-04 3.44016015e-01] [-4.18513857e-03 -7.20842919e-05 9.99991240e-01 -1.47156028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.16, Y:0.34, Z:-1.47 [[ 9.98162914e-01 6.04372603e-02 4.25840390e-03 5.61588373e+01] [-6.04370513e-02 9.98171995e-01 -1.77876272e-04 3.42286864e-01] [-4.26136987e-03 -7.98158768e-05 9.99990917e-01 -1.47203066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:0.34, Z:-1.47 [[ 9.98094712e-01 6.15669236e-02 4.05715145e-03 5.61906482e+01] [-6.15667401e-02 9.98102954e-01 -1.70246499e-04 3.40977284e-01] [-4.05993640e-03 -7.98634585e-05 9.99991755e-01 -1.47276489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:0.34, Z:-1.47 [[ 9.97944318e-01 6.39060397e-02 4.81218837e-03 5.62228134e+01] [-6.39058022e-02 9.97955914e-01 -2.03268498e-04 3.36582151e-01] [-4.81534193e-03 -1.04676115e-04 9.99988401e-01 -1.47399221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:0.33, Z:-1.47 [[ 9.97849962e-01 6.53373741e-02 5.14586405e-03 5.62548520e+01] [-6.53371167e-02 9.97863224e-01 -2.18292854e-04 3.32090276e-01] [-5.14913117e-03 -1.18392404e-04 9.99986736e-01 -1.47445344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.29, Y:0.33, Z:-1.47 [[ 9.97689260e-01 6.77026547e-02 5.70013812e-03 5.62861392e+01] [-6.77023627e-02 9.97705533e-01 -2.44379148e-04 3.26182637e-01] [-5.70360446e-03 -1.42098368e-04 9.99983724e-01 -1.47486526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:0.32, Z:-1.48 [[ 9.97610679e-01 6.88378024e-02 5.85571264e-03 5.63188460e+01] [-6.88375163e-02 9.97627853e-01 -2.50634424e-04 3.23359239e-01] [-5.85907515e-03 -1.53057136e-04 9.99982824e-01 -1.47591729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.35, Y:0.32, Z:-1.48 [[ 9.97553536e-01 6.96387465e-02 6.11451485e-03 5.63503853e+01] [-6.96384342e-02 9.97572262e-01 -2.64230391e-04 3.20535984e-01] [-6.11807108e-03 -1.62221279e-04 9.99981271e-01 -1.47684556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.38, Y:0.31, Z:-1.48 [[ 9.97540239e-01 6.98440891e-02 5.93932123e-03 5.63836527e+01] [-6.98438014e-02 9.97557907e-01 -2.56100644e-04 3.14945998e-01] [-5.94270397e-03 -1.59354075e-04 9.99982329e-01 -1.47801726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:0.31, Z:-1.48 [[ 9.97563267e-01 6.95404751e-02 5.62585587e-03 5.64161260e+01] [-6.95402077e-02 9.97579120e-01 -2.43359300e-04 3.10906583e-01] [-5.62915966e-03 -1.48456887e-04 9.99984145e-01 -1.47834761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.45, Y:0.31, Z:-1.48 [[ 9.97618307e-01 6.87115684e-02 6.03606002e-03 5.64482646e+01] [-6.87112354e-02 9.97636556e-01 -2.62761343e-04 3.06975020e-01] [-6.03984887e-03 -1.52609615e-04 9.99981748e-01 -1.47929227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.48, Y:0.30, Z:-1.48 [[ 9.97801837e-01 6.59943728e-02 6.01975724e-03 5.64811332e+01] [-6.59939870e-02 9.97819986e-01 -2.62918036e-04 2.99751098e-01] [-6.02398519e-03 -1.34927682e-04 9.99981847e-01 -1.48007825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.51, Y:0.30, Z:-1.48 [[ 9.97870267e-01 6.50126920e-02 5.31799720e-03 5.65144282e+01] [-6.50123754e-02 9.97884431e-01 -2.32569219e-04 2.95037494e-01] [-5.32186656e-03 -1.13661721e-04 9.99985832e-01 -1.48099483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.55, Y:0.29, Z:-1.48 [[ 9.97913229e-01 6.43491440e-02 5.32689573e-03 5.65459976e+01] [-6.43488100e-02 9.97927440e-01 -2.34253616e-04 2.90969288e-01] [-5.33092944e-03 -1.09014619e-04 9.99985785e-01 -1.48166545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.58, Y:0.29, Z:-1.48 [[ 9.97928727e-01 6.40824628e-02 5.62968312e-03 5.65793184e+01] [-6.40820788e-02 9.97944600e-01 -2.48755295e-04 2.87243144e-01] [-5.63405272e-03 -1.12521743e-04 9.99984122e-01 -1.48185908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:0.28, Z:-1.48 [[ 9.97889063e-01 6.47362550e-02 5.16099879e-03 5.66119118e+01] [-6.47359378e-02 9.97902403e-01 -2.28654209e-04 2.80784721e-01] [-5.16497532e-03 -1.05930563e-04 9.99986656e-01 -1.48318832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:0.28, Z:-1.48 [[ 9.97811410e-01 6.59772543e-02 4.40362536e-03 5.66433448e+01] [-6.59770289e-02 9.97821123e-01 -1.96597454e-04 2.77003358e-01] [-4.40700136e-03 -9.43709349e-05 9.99990285e-01 -1.48358875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.68, Y:0.27, Z:-1.48 [[ 9.97718477e-01 6.73920825e-02 4.01845888e-03 5.66759624e+01] [-6.73919108e-02 9.97726565e-01 -1.78261135e-04 2.74786876e-01] [-4.02133656e-03 -9.29571946e-05 9.99991910e-01 -1.48470356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:0.28, Z:-1.49 [[ 9.97509772e-01 7.04140231e-02 4.01491110e-03 5.67080615e+01] [-7.04138722e-02 9.97517847e-01 -1.79103135e-04 2.75175393e-01] [-4.01755685e-03 -1.04048309e-04 9.99991924e-01 -1.48615186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:0.27, Z:-1.49 [[ 9.97382089e-01 7.22001519e-02 4.01322319e-03 5.67414284e+01] [-7.22000135e-02 9.97390157e-01 -1.79545467e-04 2.73897384e-01] [-4.01571252e-03 -1.10679335e-04 9.99991931e-01 -1.48719937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.77, Y:0.27, Z:-1.49 [[ 9.97163399e-01 7.51480025e-02 4.23475006e-03 5.67745350e+01] [-7.51478707e-02 9.97172383e-01 -1.90462563e-04 2.69830203e-01] [-4.23708869e-03 -1.28310154e-04 9.99991015e-01 -1.48725588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:0.27, Z:-1.49 [[ 9.97061337e-01 7.64726538e-02 4.54120958e-03 5.68065516e+01] [-7.64725096e-02 9.97071669e-01 -2.05648775e-04 2.66573273e-01] [-4.54363792e-03 -1.42233251e-04 9.99989668e-01 -1.48760475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:0.26, Z:-1.49 [[ 9.96973600e-01 7.75953377e-02 4.75432833e-03 5.68380081e+01] [-7.75951874e-02 9.96984925e-01 -2.16342088e-04 2.64195030e-01] [-4.75678081e-03 -1.53225647e-04 9.99988675e-01 -1.48792693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.87, Y:0.26, Z:-1.49 [[ 9.96897322e-01 7.85439857e-02 5.15472244e-03 5.68707248e+01] [-7.85438164e-02 9.96910635e-01 -2.35577217e-04 2.62219613e-01] [-5.15730079e-03 -1.70025276e-04 9.99986687e-01 -1.48865818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.90, Y:0.26, Z:-1.49 [[ 9.96889810e-01 7.85124651e-02 6.81905572e-03 5.69027392e+01] [-7.85121487e-02 9.96913107e-01 -3.14487742e-04 2.60429678e-01] [-6.82269723e-03 -2.21869092e-04 9.99976701e-01 -1.48963231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:0.26, Z:-1.49 [[ 9.96946472e-01 7.77223592e-02 7.54763572e-03 5.69347687e+01] [-7.77219353e-02 9.96975014e-01 -3.49909174e-04 2.58441908e-01] [-7.55199999e-03 -2.37776138e-04 9.99971455e-01 -1.49020025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.97, Y:0.26, Z:-1.49 [[ 9.97117507e-01 7.53892474e-02 8.55208825e-03 5.69680769e+01] [-7.53886029e-02 9.97154151e-01 -3.98156418e-04 2.55495119e-01] [-8.55776700e-03 -2.47721250e-04 9.99963351e-01 -1.49020801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.00, Y:0.25, Z:-1.49 [[ 9.97219566e-01 7.40290828e-02 8.53420701e-03 5.70008820e+01] [-7.40283788e-02 9.97256055e-01 -3.98783445e-04 2.52706223e-01] [-8.54031119e-03 -2.34098855e-04 9.99963503e-01 -1.49069969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:0.25, Z:-1.49 [[ 9.97333389e-01 7.25120402e-02 8.25322638e-03 5.70329365e+01] [-7.25113093e-02 9.97367515e-01 -3.88151597e-04 2.50264137e-01] [-8.25964555e-03 -2.11335703e-04 9.99965866e-01 -1.49110911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.07, Y:0.25, Z:-1.49 [[ 9.97436102e-01 7.11102651e-02 8.03447857e-03 5.70654821e+01] [-7.11095280e-02 9.97468442e-01 -3.77733881e-04 2.48770031e-01] [-8.04099957e-03 -1.94562569e-04 9.99967652e-01 -1.49175373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.10, Y:0.25, Z:-1.49 [[ 9.97630820e-01 6.83847220e-02 7.50175357e-03 5.70973260e+01] [-6.83839858e-02 9.97659012e-01 -3.54907538e-04 2.47376060e-01] [-7.50846231e-03 -1.58933111e-04 9.99971798e-01 -1.49342815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:0.24, Z:-1.49 [[ 9.97710395e-01 6.72043665e-02 7.58563259e-03 5.71305749e+01] [-6.72035809e-02 9.97739219e-01 -3.58691353e-04 2.43443721e-01] [-7.59258877e-03 -1.51911583e-04 9.99971164e-01 -1.49458096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.16, Y:0.24, Z:-1.50 [[ 9.97827563e-01 6.55793514e-02 6.28517578e-03 5.71636252e+01] [-6.55787771e-02 9.97847351e-01 -2.97645796e-04 2.35850045e-01] [-6.29116542e-03 -1.15174962e-04 9.99980204e-01 -1.49544674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:0.23, Z:-1.50 [[ 9.97860463e-01 6.51843391e-02 5.04957055e-03 5.71958671e+01] [-6.51839618e-02 9.97873235e-01 -2.39451683e-04 2.31434609e-01] [-5.05443981e-03 -9.02116470e-05 9.99987222e-01 -1.49606942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:0.23, Z:-1.50 [[ 9.97882526e-01 6.48792353e-02 4.59879760e-03 5.72280055e+01] [-6.48789167e-02 9.97893120e-01 -2.18593414e-04 2.27177022e-01] [-4.60329066e-03 -8.02344587e-05 9.99989402e-01 -1.49641861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.26, Y:0.22, Z:-1.50 [[ 9.97902853e-01 6.45706940e-02 4.53007587e-03 5.72612191e+01] [-6.45703789e-02 9.97913132e-01 -2.15931615e-04 2.23625552e-01] [-4.53456505e-03 -7.70299403e-05 9.99989716e-01 -1.49706823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.29, Y:0.22, Z:-1.50 [[ 9.97937035e-01 6.40394730e-02 4.54086949e-03 5.72938957e+01] [-6.40391476e-02 9.97947364e-01 -2.17174899e-04 2.20373448e-01] [-4.54545650e-03 -7.40665362e-05 9.99989667e-01 -1.49738742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:0.22, Z:-1.50 [[ 9.97965066e-01 6.35948815e-02 4.62800734e-03 5.73266989e+01] [-6.35945352e-02 9.97975794e-01 -2.22107564e-04 2.15959949e-01] [-4.63276420e-03 -7.26603854e-05 9.99989266e-01 -1.49856715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:0.21, Z:-1.50 [[ 9.97997490e-01 6.30541636e-02 5.01816187e-03 5.73582639e+01] [-6.30537416e-02 9.98010104e-01 -2.42429608e-04 2.09845659e-01] [-5.02346244e-03 -7.44697411e-05 9.99987380e-01 -1.49920343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.39, Y:0.20, Z:-1.50 [[ 9.98103448e-01 6.12576824e-02 6.08312140e-03 5.73910441e+01] [-6.12570180e-02 9.98121982e-01 -2.95649509e-04 1.99080902e-01] [-6.08980799e-03 -7.75450831e-05 9.99981454e-01 -1.49898137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.42, Y:0.19, Z:-1.50 [[ 9.98135025e-01 6.07218125e-02 6.27170708e-03 5.74229041e+01] [-6.07210859e-02 9.98154725e-01 -3.06372723e-04 1.94126229e-01] [-6.27873756e-03 -7.50235187e-05 9.99980286e-01 -1.49977747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.46, Y:0.19, Z:-1.50 [[ 9.98143844e-01 6.06352198e-02 5.67776417e-03 5.74560669e+01] [-6.06346202e-02 9.98159990e-01 -2.77833786e-04 1.89209468e-01] [-5.68416354e-03 -6.69509910e-05 9.99983843e-01 -1.50058536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.49, Y:0.19, Z:-1.50 [[ 9.98135878e-01 6.07662133e-02 5.67766159e-03 5.74895060e+01] [-6.07656041e-02 9.98152024e-01 -2.79900802e-04 1.87383183e-01] [-5.68417792e-03 -6.56275035e-05 9.99983843e-01 -1.50135646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:0.18, Z:-1.50 [[ 9.98087164e-01 6.16834168e-02 4.14367317e-03 5.75213511e+01] [-6.16831003e-02 9.98095764e-01 -2.04263572e-04 1.77954692e-01] [-4.14838231e-03 -5.17217581e-05 9.99991394e-01 -1.50293786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:0.17, Z:-1.50 [[ 9.98028123e-01 6.26702932e-02 3.50721527e-03 5.75534339e+01] [-6.26700763e-02 9.98034284e-01 -1.71799777e-04 1.73038354e-01] [-3.51108782e-03 -4.83364403e-05 9.99993835e-01 -1.50335120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.59, Y:0.17, Z:-1.50 [[ 9.97860962e-01 6.52634537e-02 3.76592505e-03 5.75862015e+01] [-6.52632193e-02 9.97868066e-01 -1.85227013e-04 1.66516576e-01] [-3.76998491e-03 -6.09455871e-05 9.99992892e-01 -1.50293521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:0.16, Z:-1.50 [[ 9.97760814e-01 6.67538961e-02 4.15634183e-03 5.76194377e+01] [-6.67536186e-02 9.97769468e-01 -2.05612418e-04 1.62623997e-01] [-4.16079641e-03 -7.22988432e-05 9.99991341e-01 -1.50339541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:0.16, Z:-1.50 [[ 9.97652718e-01 6.83549267e-02 4.08147853e-03 5.76521506e+01] [-6.83546705e-02 9.97661064e-01 -2.02400848e-04 1.58110145e-01] [-4.08576731e-03 -7.70623643e-05 9.99991650e-01 -1.50384820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:0.15, Z:-1.50 [[ 9.97389804e-01 7.21216406e-02 3.47091251e-03 5.76834900e+01] [-7.21214772e-02 9.97395841e-01 -1.72386958e-04 1.50501824e-01] [-3.47430653e-03 -7.83903432e-05 9.99993962e-01 -1.50392535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.71, Y:0.15, Z:-1.50 [[ 9.97198677e-01 7.47115624e-02 3.60295959e-03 5.77148762e+01] [-7.47114002e-02 9.97205182e-01 -1.79781145e-04 1.47172200e-01] [-3.60632171e-03 -8.99046366e-05 9.99993493e-01 -1.50478799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:0.15, Z:-1.51 [[ 9.96991379e-01 7.74356449e-02 3.45116484e-03 5.77475191e+01] [-7.74355113e-02 9.96997348e-01 -1.72517330e-04 1.45245084e-01] [-3.45416119e-03 -9.52444228e-05 9.99994030e-01 -1.50537945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.78, Y:0.14, Z:-1.51 [[ 9.96773165e-01 8.01668443e-02 4.06630136e-03 5.77809184e+01] [-8.01666754e-02 9.96781452e-01 -2.04773256e-04 1.43256263e-01] [-4.06962980e-03 -1.21869375e-04 9.99991712e-01 -1.50622095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.81, Y:0.14, Z:-1.51 [[ 9.96483855e-01 8.36972703e-02 3.83333746e-03 5.78125098e+01] [-8.36971435e-02 9.96491220e-01 -1.93759702e-04 1.38602989e-01] [-3.83610427e-03 -1.27760981e-04 9.99992634e-01 -1.50730554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:0.14, Z:-1.51 [[ 9.96420724e-01 8.44730939e-02 3.16816102e-03 5.78459130e+01] [-8.44730127e-02 9.96425755e-01 -1.59672876e-04 1.36328609e-01] [-3.17032530e-03 -1.08522743e-04 9.99994969e-01 -1.50826181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:0.13, Z:-1.51 [[ 9.96412312e-01 8.45786978e-02 2.99137095e-03 5.78776511e+01] [-8.45786241e-02 9.96416797e-01 -1.51349589e-04 1.33953939e-01] [-2.99345321e-03 -1.02199446e-04 9.99995514e-01 -1.50997066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.91, Y:0.13, Z:-1.51 [[ 9.96481598e-01 8.37826589e-02 2.21175952e-03 5.79101508e+01] [-8.37826184e-02 9.96484049e-01 -1.11101618e-04 1.30193515e-01] [-2.21329148e-03 -7.45962861e-05 9.99997548e-01 -1.51073155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:0.13, Z:-1.51 [[ 9.96577683e-01 8.26418404e-02 1.80230451e-03 5.79428857e+01] [-8.26418125e-02 9.96579311e-01 -9.00651645e-05 1.26310499e-01] [-1.80358253e-03 -5.91887783e-05 9.99998372e-01 -1.51135163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.98, Y:0.12, Z:-1.51 [[ 9.96745824e-01 8.05513134e-02 3.04125331e-03 5.79753468e+01] [-8.05512139e-02 9.96750459e-01 -1.55372039e-04 1.24235441e-01] [-3.04388606e-03 -9.01102154e-05 9.99995363e-01 -1.51086988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:0.12, Z:-1.51 [[ 9.96816424e-01 7.96379431e-02 3.84913697e-03 5.80076404e+01] [-7.96377644e-02 9.96823849e-01 -1.99934285e-04 1.23147726e-01] [-3.85283389e-03 -1.07238884e-04 9.99992572e-01 -1.51100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:0.12, Z:-1.51 [[ 9.96868891e-01 7.89682583e-02 4.05313353e-03 5.80402632e+01] [-7.89680574e-02 9.96877125e-01 -2.09824525e-04 1.21395014e-01] [-4.05704558e-03 -1.10900540e-04 9.99991764e-01 -1.51114459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:0.12, Z:-1.51 [[ 9.96961679e-01 7.76575780e-02 6.05891093e-03 5.80723275e+01] [-7.76570837e-02 9.96980078e-01 -3.17167313e-04 1.19298955e-01] [-6.06524394e-03 -1.54313696e-04 9.99981594e-01 -1.51092762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:0.12, Z:-1.51 [[ 9.96980157e-01 7.73262870e-02 7.15620909e-03 5.81054916e+01] [-7.73255757e-02 9.97005824e-01 -3.76431068e-04 1.15673498e-01] [-7.16389015e-03 -1.78063682e-04 9.99974323e-01 -1.51156821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.14, Y:0.11, Z:-1.51 [[ 9.97016513e-01 7.68249375e-02 7.48346229e-03 5.81374914e+01] [-7.68241323e-02 9.97044581e-01 -3.95432501e-04 1.11108418e-01] [-7.49172460e-03 -1.80657763e-04 9.99971920e-01 -1.51207487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.17, Y:0.11, Z:-1.51 [[ 9.97171899e-01 7.48402528e-02 6.86590480e-03 5.81702615e+01] [-7.48395233e-02 9.97195524e-01 -3.63475715e-04 1.06272957e-01] [-6.87385215e-03 -1.51393273e-04 9.99976363e-01 -1.51291355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:0.10, Z:-1.51 [[ 9.97274986e-01 7.34868931e-02 6.50220654e-03 5.82016984e+01] [-7.34861961e-02 9.97296174e-01 -3.46360876e-04 1.03333399e-01] [-6.51007870e-03 -1.32405387e-04 9.99978800e-01 -1.51435175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:0.10, Z:-1.52 [[ 9.97512901e-01 7.03454569e-02 4.41905501e-03 5.82343737e+01] [-7.03451115e-02 9.97522687e-01 -2.33719925e-04 9.83562605e-02] [-4.42454876e-03 -7.77202775e-05 9.99990209e-01 -1.51557430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.27, Y:0.09, Z:-1.52 [[ 9.97598826e-01 6.91618480e-02 3.63598898e-03 5.82672458e+01] [-6.91616067e-02 9.97605451e-01 -1.92200344e-04 9.44669615e-02] [-3.64057536e-03 -5.97320023e-05 9.99993371e-01 -1.51660211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:0.09, Z:-1.52 [[ 9.97633950e-01 6.86695966e-02 3.31480923e-03 5.82985730e+01] [-6.86693917e-02 9.97639456e-01 -1.75712998e-04 8.99377440e-02] [-3.31905062e-03 -5.23286810e-05 9.99994491e-01 -1.51783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:0.08, Z:-1.52 [[ 9.97563462e-01 6.97600351e-02 8.22445958e-04 5.83312647e+01] [-6.97600255e-02 9.97563801e-01 -4.03515084e-05 7.98603146e-02] [-8.23257239e-04 -1.71206606e-05 9.99999661e-01 -1.51909731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.36, Y:0.07, Z:-1.52 [[ 9.97432424e-01 7.16116805e-02 -5.71972704e-04 5.83631645e+01] [-7.16116720e-02 9.97432588e-01 3.53548460e-05 7.43045799e-02] [ 5.73036034e-04 5.69585194e-06 9.99999836e-01 -1.51934602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:0.07, Z:-1.52 [[ 9.97241592e-01 7.42179178e-02 -9.52653220e-04 5.83944965e+01] [-7.42178980e-02 9.97242047e-01 5.62469693e-05 7.00555328e-02] [ 9.54200380e-04 1.46121022e-05 9.99999545e-01 -1.51959199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.43, Y:0.07, Z:-1.52 [[ 9.97011446e-01 7.72538943e-02 -1.08501085e-04 5.84266429e+01] [-7.72538937e-02 9.97011452e-01 9.97480600e-06 6.79471046e-02] [ 1.08947416e-04 -1.56286450e-06 9.99999994e-01 -1.52002019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.46, Y:0.07, Z:-1.52 [[ 9.96516971e-01 8.33893843e-02 3.71415521e-04 5.84595150e+01] [-8.33893841e-02 9.96517040e-01 -1.61636256e-05 6.67438518e-02] [-3.71469771e-04 -1.48647844e-05 9.99999931e-01 -1.52045128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:0.06, Z:-1.52 [[ 9.96271153e-01 8.62767016e-02 3.46351973e-04 5.84912825e+01] [-8.62767015e-02 9.96271213e-01 -1.51249053e-05 6.42079773e-02] [-3.46365427e-04 -1.48135990e-05 9.99999940e-01 -1.52090119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:0.06, Z:-1.52 [[ 9.95986062e-01 8.94958177e-02 1.50398777e-03 5.85242569e+01] [-8.94958000e-02 9.95987196e-01 -7.92183055e-05 6.09698779e-02] [-1.50504227e-03 -5.57002601e-05 9.99998866e-01 -1.52132772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.56, Y:0.06, Z:-1.52 [[ 9.95911022e-01 9.03226747e-02 1.74689663e-03 5.85561636e+01] [-9.03226498e-02 9.95912552e-01 -9.32971927e-05 5.93587620e-02] [-1.74818313e-03 -6.48686299e-05 9.99998470e-01 -1.52261971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:0.06, Z:-1.52 [[ 9.95868174e-01 9.07925039e-02 1.81684096e-03 5.85879533e+01] [-9.07924769e-02 9.95869829e-01 -9.75290668e-05 5.73980733e-02] [-1.81819200e-03 -6.78293973e-05 9.99998345e-01 -1.52362035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:0.06, Z:-1.52 [[ 9.95831329e-01 9.12028931e-02 1.41309422e-03 5.86210886e+01] [-9.12028787e-02 9.95832330e-01 -7.48270850e-05 5.61512582e-02] [-1.41402935e-03 -5.43631048e-05 9.99998999e-01 -1.52468935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.65, Y:0.06, Z:-1.53 [[ 9.95783964e-01 9.17142508e-02 1.67116142e-03 5.86528064e+01] [-9.17142289e-02 9.95785364e-01 -8.98753963e-05 5.50436389e-02] [-1.67236094e-03 -6.37728025e-05 9.99998600e-01 -1.52603237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.69, Y:0.05, Z:-1.53 [[ 9.95786877e-01 9.16893193e-02 1.25040747e-03 5.86853058e+01] [-9.16893081e-02 9.95787661e-01 -6.63759342e-05 5.38269063e-02] [-1.25122630e-03 -4.85527120e-05 9.99999216e-01 -1.52676342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.72, Y:0.05, Z:-1.53 [[ 9.95821597e-01 9.13190327e-02 4.26275611e-04 5.87168062e+01] [-9.13190324e-02 9.95821688e-01 -2.02464035e-05 5.20174642e-02] [-4.26343380e-04 -1.87652704e-05 9.99999909e-01 -1.52789443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.75, Y:0.05, Z:-1.53 [[ 9.95900189e-01 9.04520892e-02 -1.11020592e-03 5.87492033e+01] [-9.04520724e-02 9.95900807e-01 6.54784578e-05 5.19042833e-02] [ 1.11157763e-03 3.52104174e-05 9.99999382e-01 -1.52881912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.78, Y:0.05, Z:-1.53 [[ 9.95915286e-01 9.02786706e-02 -1.58291112e-03 5.87817826e+01] [-9.02786346e-02 9.95916542e-01 9.43648768e-05 5.07353202e-02] [ 1.58496651e-03 4.89236316e-05 9.99998743e-01 -1.52949271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:0.05, Z:-1.53 [[ 9.95903735e-01 9.04092454e-02 -1.38561448e-03 5.88146083e+01] [-9.04092166e-02 9.95904698e-01 8.34843650e-05 4.97098262e-02] [ 1.38748773e-03 4.21299290e-05 9.99999037e-01 -1.53046523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.85, Y:0.05, Z:-1.53 [[ 9.95890666e-01 9.05551520e-02 -1.24344527e-03 5.88468186e+01] [-9.05551285e-02 9.95891441e-01 7.52986467e-05 4.82721368e-02] [ 1.24515519e-03 3.76111272e-05 9.99999224e-01 -1.53163405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:0.05, Z:-1.53 [[ 9.95907363e-01 9.03753290e-02 -9.07766128e-04 5.88801697e+01] [-9.03753151e-02 9.95907776e-01 5.63986983e-05 4.64136365e-02] [ 9.09148397e-04 2.58717709e-05 9.99999586e-01 -1.53194718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:0.04, Z:-1.53 [[ 9.96062733e-01 8.86464046e-02 9.20191261e-04 5.89129673e+01] [-8.86463973e-02 9.96063158e-01 -4.87585841e-05 4.45917666e-02] [-9.20890886e-04 -3.30050315e-05 9.99999575e-01 -1.53100190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.94, Y:0.05, Z:-1.53 [[ 9.96185012e-01 8.72556227e-02 1.37039964e-03 5.89448209e+01] [-8.72556018e-02 9.96185954e-01 -7.52137248e-05 4.52243582e-02] [-1.37173569e-03 -4.46482600e-05 9.99999058e-01 -1.53128562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:0.05, Z:-1.53 [[ 9.96332269e-01 8.55520707e-02 1.68910216e-03 5.89778966e+01] [-8.55520348e-02 9.96333699e-01 -9.35996179e-05 4.65435642e-02] [-1.69091705e-03 -5.12498074e-05 9.99998569e-01 -1.53209020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.01, Y:0.05, Z:-1.53 [[ 9.96784485e-01 8.00791580e-02 2.83188485e-03 5.90110556e+01] [-8.00790254e-02 9.96788505e-01 -1.60342952e-04 4.72352582e-02] [-2.83563040e-03 -6.69472126e-05 9.99995977e-01 -1.53278081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.04, Y:0.04, Z:-1.53 [[ 9.97038783e-01 7.68287474e-02 3.31790517e-03 5.90426079e+01] [-7.68285420e-02 9.97044302e-01 -1.89489060e-04 4.43053062e-02] [-3.32265665e-03 -6.59818744e-05 9.99994478e-01 -1.53323067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.08, Y:0.04, Z:-1.53 [[ 9.97283676e-01 7.36006312e-02 2.86630286e-03 5.90750102e+01] [-7.36004655e-02 9.97287794e-01 -1.63380388e-04 4.14645149e-02] [-2.87055376e-03 -4.80246304e-05 9.99995879e-01 -1.53367131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.11, Y:0.04, Z:-1.53 [[ 9.97722664e-01 6.74365721e-02 1.33966164e-03 5.91066925e+01] [-6.74365310e-02 9.97723563e-01 -7.58358111e-05 3.81089453e-02] [-1.34172610e-03 -1.46790266e-05 9.99999100e-01 -1.53428841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:0.04, Z:-1.53 [[ 9.97872244e-01 6.51763698e-02 1.73948758e-03 5.91392695e+01] [-6.51762982e-02 9.97873760e-01 -9.78591776e-05 3.51055811e-02] [-1.74216712e-03 -1.57224042e-05 9.99998482e-01 -1.53499754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.17, Y:0.03, Z:-1.53 [[ 9.98035753e-01 6.25860540e-02 2.76064775e-03 5.91708655e+01] [-6.25858543e-02 9.98039571e-01 -1.58757881e-04 3.35234950e-02] [-2.76517172e-03 -1.43314563e-05 9.99996177e-01 -1.53444259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.20, Y:0.03, Z:-1.53 [[ 9.98025260e-01 6.27482149e-02 2.87085710e-03 5.92039505e+01] [-6.27479983e-02 9.98029389e-01 -1.65527522e-04 3.26008346e-02] [-2.87558631e-03 -1.49398878e-05 9.99995865e-01 -1.53480167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.24, Y:0.03, Z:-1.54 [[ 9.97975864e-01 6.34841853e-02 3.73259318e-03 5.92359194e+01] [-6.34838157e-02 9.97982844e-01 -2.17546728e-04 3.06224508e-02] [-3.73887473e-03 -1.98528730e-05 9.99993010e-01 -1.53557333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.27, Y:0.03, Z:-1.54 [[ 9.97788933e-01 6.63485544e-02 3.88779953e-03 5.92674779e+01] [-6.63481715e-02 9.97796506e-01 -2.27525354e-04 2.73215016e-02] [-3.89432877e-03 -3.09261099e-05 9.99992417e-01 -1.53600577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.30, Y:0.03, Z:-1.54 [[ 9.97665880e-01 6.82013780e-02 3.37104362e-03 5.93000840e+01] [-6.82011010e-02 9.97671575e-01 -1.97200353e-04 2.66820083e-02] [-3.37664374e-03 -3.31688229e-05 9.99994299e-01 -1.53618585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:0.03, Z:-1.54 [[ 9.97502432e-01 7.05328081e-02 3.74438521e-03 5.93328478e+01] [-7.05324783e-02 9.97509459e-01 -2.20207604e-04 2.69142098e-02] [-3.75059152e-03 -4.44431481e-05 9.99992966e-01 -1.53692257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.37, Y:0.03, Z:-1.54 [[ 9.97151851e-01 7.52690834e-02 4.76971918e-03 5.93664342e+01] [-7.52685937e-02 9.97163256e-01 -2.82351529e-04 2.89866302e-02] [-4.77744105e-03 -7.74627047e-05 9.99988585e-01 -1.53761705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.40, Y:0.03, Z:-1.54 [[ 9.96953239e-01 7.78911993e-02 4.14723882e-03 5.93981831e+01] [-7.78908498e-02 9.96961862e-01 -2.45982299e-04 2.92625103e-02] [-4.15379880e-03 -7.77991066e-05 9.99991370e-01 -1.53849203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.43, Y:0.03, Z:-1.54 [[ 9.96542346e-01 8.30229077e-02 3.24791078e-03 5.94309606e+01] [-8.30227218e-02 9.96547636e-01 -1.92270082e-04 3.10262608e-02] [-3.25266063e-03 -7.80451143e-05 9.99994707e-01 -1.53952742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.46, Y:0.03, Z:-1.54 [[ 9.96344202e-01 8.53508727e-02 3.66885649e-03 5.94642613e+01] [-8.53506469e-02 9.96350952e-01 -2.18350782e-04 2.98775634e-02] [-3.67410509e-03 -9.55867392e-05 9.99993246e-01 -1.53971063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.50, Y:0.03, Z:-1.54 [[ 9.96176385e-01 8.72533193e-02 4.41238519e-03 5.94957896e+01] [-8.72530026e-02 9.96186149e-01 -2.64580977e-04 2.82818459e-02] [-4.41864257e-03 -1.21424535e-04 9.99990230e-01 -1.54054498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.53, Y:0.03, Z:-1.54 [[ 9.96169119e-01 8.73362354e-02 4.41222916e-03 5.95292059e+01] [-8.73359082e-02 9.96178883e-01 -2.67144078e-04 2.61129825e-02] [-4.41870088e-03 -1.19225360e-04 9.99990230e-01 -1.54131615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.56, Y:0.03, Z:-1.54 [[ 9.96053223e-01 8.86578559e-02 4.21443523e-03 5.95610623e+01] [-8.86575755e-02 9.96062132e-01 -2.53670535e-04 2.80684012e-02] [-4.22032922e-03 -1.20972256e-04 9.99991087e-01 -1.54146450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:0.03, Z:-1.54 [[ 9.96063443e-01 8.85708239e-02 3.58133471e-03 5.95936930e+01] [-8.85706215e-02 9.96069876e-01 -2.15389428e-04 2.91652101e-02] [-3.58633684e-03 -1.02659506e-04 9.99993564e-01 -1.54291505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:0.03, Z:-1.54 [[ 9.96137642e-01 8.77619428e-02 2.76381166e-03 5.96257767e+01] [-8.77618198e-02 9.96141474e-01 -1.66002202e-04 2.96140030e-02] [-2.76771609e-03 -7.71960979e-05 9.99996167e-01 -1.54408649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:0.03, Z:-1.55 [[ 9.96328742e-01 8.55581763e-02 2.97255930e-03 5.96588693e+01] [-8.55580162e-02 9.96333174e-01 -1.81207332e-04 3.15277749e-02] [-2.97716321e-03 -7.37842043e-05 9.99995566e-01 -1.54605087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.69, Y:0.03, Z:-1.55 [[ 9.96399780e-01 8.46966944e-02 3.73488233e-03 5.96912798e+01] [-8.46964395e-02 9.96406775e-01 -2.26653436e-04 3.02508481e-02] [-3.74065886e-03 -9.04938014e-05 9.99993000e-01 -1.54659472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:59.72, Y:0.03, Z:-1.55 [[ 9.96625832e-01 8.19092905e-02 5.27436212e-03 5.97242506e+01] [-8.19087305e-02 9.96639782e-01 -3.22464829e-04 2.85730914e-02] [-5.28305198e-03 -1.10639527e-04 9.99986038e-01 -1.54571091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.76, Y:0.03, Z:-1.55 [[ 9.96770904e-01 8.00425401e-02 6.39976345e-03 5.97563849e+01] [-8.00416618e-02 9.96791441e-01 -3.93662769e-04 2.63377338e-02] [-6.41073920e-03 -1.19856108e-04 9.99979444e-01 -1.54630211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954203822000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.79, Y:0.03, Z:-1.55 [[ 9.96921083e-01 7.80858978e-02 7.13768843e-03 5.97893619e+01] [-7.80847447e-02 9.96946628e-01 -4.40518869e-04 2.56041642e-02] [-7.15029272e-03 -1.18182030e-04 9.99974429e-01 -1.54682669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.82, Y:0.02, Z:-1.55 [[ 9.97075266e-01 7.60927463e-02 7.12797873e-03 5.98208131e+01] [-7.60915338e-02 9.97100739e-01 -4.41535451e-04 2.42770264e-02] [-7.14091050e-03 -1.02134758e-04 9.99974498e-01 -1.54816603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:0.02, Z:-1.55 [[ 9.97497919e-01 7.05024477e-02 5.22564861e-03 5.98538254e+01] [-7.05017208e-02 9.97511605e-01 -3.23413445e-04 1.97356311e-02] [-5.23544658e-03 -4.58129818e-05 9.99986294e-01 -1.54959628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.89, Y:0.02, Z:-1.55 [[ 9.97717111e-01 6.72914692e-02 5.69421189e-03 5.98861126e+01] [-6.72905440e-02 9.97733360e-01 -3.54117051e-04 1.60389853e-02] [-5.70513422e-03 -2.98579744e-05 9.99983725e-01 -1.54986962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:0.01, Z:-1.55 [[ 9.97890505e-01 6.45159527e-02 7.22720717e-03 5.99186611e+01] [-6.45143733e-02 9.97916676e-01 -4.51689034e-04 1.23657599e-02] [-7.24129170e-03 -1.55225428e-05 9.99973781e-01 -1.55019909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:0.01, Z:-1.55 [[ 9.98125711e-01 6.07625139e-02 7.27882382e-03 5.99512616e+01] [-6.07607898e-02 9.98152251e-01 -4.57979859e-04 8.33600627e-03] [-7.29320239e-03 1.48543882e-05 9.99973404e-01 -1.55046967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.98, Y:0.00, Z:-1.55 [[ 9.98184192e-01 5.98509328e-02 6.79588122e-03 5.99828817e+01] [-5.98494161e-02 9.98207326e-01 -4.26508756e-04 4.81674554e-03] [-6.80922536e-03 1.90047757e-05 9.99976817e-01 -1.55172416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:0.00, Z:-1.55 [[ 9.98184717e-01 5.98098548e-02 7.07478474e-03 6.00150911e+01] [-5.98081998e-02 9.98209788e-01 -4.45461872e-04 1.62427991e-03] [-7.08876238e-03 2.15230938e-05 9.99974874e-01 -1.55238963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:-0.00, Z:-1.55 [[ 9.97965721e-01 6.31511627e-02 8.73783939e-03 6.00478845e+01] [-6.31487469e-02 9.98003973e-01 -5.52367394e-04 -1.34506829e-03] [-8.75528107e-03 -5.39883271e-07 9.99961672e-01 -1.55325435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:-0.00, Z:-1.55 [[ 9.97769747e-01 6.62484397e-02 8.16555035e-03 6.00798702e+01] [-6.62464214e-02 9.97803159e-01 -5.17688367e-04 -4.51067585e-03] [-8.18190798e-03 -2.44046985e-05 9.99966527e-01 -1.55429882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.11, Y:-0.01, Z:-1.56 [[ 9.97244260e-01 7.39387423e-02 6.07859061e-03 6.01122861e+01] [-7.39377675e-02 9.97262783e-01 -3.85234045e-04 -9.14577344e-03] [-6.09043591e-03 -6.52649795e-05 9.99981451e-01 -1.55556303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.01, Z:-1.56 [[ 9.96916802e-01 7.82807657e-02 5.38616149e-03 6.01456225e+01] [-7.82800608e-02 9.96931349e-01 -3.41895175e-04 -1.07501786e-02] [-5.39639706e-03 -8.07880047e-05 9.99985436e-01 -1.55642546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.01, Z:-1.56 [[ 9.96564216e-01 8.27110880e-02 4.31722580e-03 6.01779360e+01] [-8.27106758e-02 9.96573564e-01 -2.74246156e-04 -1.06649508e-02] [-4.32511630e-03 -8.37767575e-05 9.99990643e-01 -1.55790049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.01, Z:-1.56 [[ 9.96223114e-01 8.67771244e-02 3.03935383e-03 6.02107248e+01] [-8.67769420e-02 9.96227748e-01 -1.92089216e-04 -9.47030589e-03] [-3.04455757e-03 -7.23821139e-05 9.99995363e-01 -1.55917602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.00, Z:-1.56 [[ 9.95640400e-01 9.32303715e-02 2.87953793e-03 6.02431546e+01] [-9.32302296e-02 9.95644560e-01 -1.83774963e-04 -4.09982442e-03] [-2.88412968e-03 -8.54862046e-05 9.99995837e-01 -1.56088916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:-0.00, Z:-1.56 [[ 9.95397182e-01 9.57788116e-02 3.29673661e-03 6.02765844e+01] [-9.57786413e-02 9.95402636e-01 -2.09874396e-04 -4.65524242e-03] [-3.30168183e-03 -1.06848571e-04 9.99994544e-01 -1.56153576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.31, Y:-0.01, Z:-1.56 [[ 9.95207562e-01 9.77205001e-02 3.55135862e-03 6.03089966e+01] [-9.77203063e-02 9.95213891e-01 -2.28455493e-04 -5.93328692e-03] [-3.55668622e-03 -1.19679218e-04 9.99993668e-01 -1.56244855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.34, Y:-0.00, Z:-1.56 [[ 9.95128285e-01 9.85086339e-02 3.96792773e-03 6.03423604e+01] [-9.85084004e-02 9.95136187e-01 -2.54715891e-04 -4.21369210e-03] [-3.97372018e-03 -1.37399225e-04 9.99992095e-01 -1.56339854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.00, Z:-1.56 [[ 9.95265119e-01 9.71218195e-02 3.83352326e-03 6.03756395e+01] [-9.71215894e-02 9.95272493e-01 -2.46586649e-04 -2.29701003e-03] [-3.83934920e-03 -1.26898782e-04 9.99992622e-01 -1.56430452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.41, Y:-0.00, Z:-1.57 [[ 9.95478803e-01 9.48880110e-02 4.26818785e-03 6.04090363e+01] [-9.48877003e-02 9.95487945e-01 -2.75704743e-04 -9.96297926e-05] [-4.27509063e-03 -1.30540302e-04 9.99990853e-01 -1.56551187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.44, Y:0.00, Z:-1.57 [[ 9.96162883e-01 8.73761557e-02 4.99180045e-03 6.04409301e+01] [-8.73756265e-02 9.96175383e-01 -3.24417424e-04 3.58263564e-03] [-5.00105508e-03 -1.12989095e-04 9.99987488e-01 -1.56643693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:0.00, Z:-1.57 [[ 9.96534385e-01 8.30634823e-02 4.43582749e-03 6.04731850e+01] [-8.30630199e-02 9.96544255e-01 -2.88692823e-04 1.57961815e-03] [-4.44447823e-03 -8.07609017e-05 9.99990120e-01 -1.56718269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.00, Z:-1.57 [[ 9.97294649e-01 7.33626803e-02 4.61514006e-03 6.05062688e+01] [-7.33620723e-02 9.97305327e-01 -3.01133728e-04 -3.54001791e-03] [-4.62479574e-03 -3.82571829e-05 9.99989305e-01 -1.56730451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.54, Y:-0.01, Z:-1.57 [[ 9.97611818e-01 6.88324179e-02 5.72349706e-03 6.05389825e+01] [-6.88313960e-02 9.97628236e-01 -3.75566335e-04 -6.19882513e-03] [-5.73577341e-03 -1.92868781e-05 9.99983550e-01 -1.56749772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.01, Z:-1.57 [[ 9.97880913e-01 6.47135949e-02 6.77014647e-03 6.05724494e+01] [-6.47120562e-02 9.97903878e-01 -4.46330172e-04 -6.53277786e-03] [-6.78483905e-03 7.27426118e-06 9.99976983e-01 -1.56784501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:-0.00, Z:-1.57 [[ 9.98249696e-01 5.86117280e-02 7.88733534e-03 6.06056116e+01] [-5.86094308e-02 9.98280853e-01 -5.22267398e-04 -2.68754460e-03] [-7.90438685e-03 5.90810357e-05 9.99968758e-01 -1.56875122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.64, Y:-0.00, Z:-1.57 [[ 9.98323117e-01 5.72766813e-02 8.38668907e-03 6.06377631e+01] [-5.72740192e-02 9.98358340e-01 -5.57443834e-04 -4.08639049e-03] [-8.40484951e-03 7.61696756e-05 9.99964676e-01 -1.56978406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.01, Z:-1.57 [[ 9.98346023e-01 5.68554584e-02 8.52503414e-03 6.06701717e+01] [-5.68526798e-02 9.98382417e-01 -5.68121807e-04 -7.54511437e-03] [-8.54354502e-03 8.25111100e-05 9.99963500e-01 -1.57030848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.70, Y:-0.01, Z:-1.57 [[ 9.98274423e-01 5.81928166e-02 7.85951871e-03 6.07028361e+01] [-5.81904872e-02 9.98305360e-01 -5.24938496e-04 -1.22729445e-02] [-7.87674731e-03 6.66834516e-05 9.99968976e-01 -1.57061107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.74, Y:-0.01, Z:-1.57 [[ 9.98173182e-01 6.00171701e-02 6.94534130e-03 6.07359569e+01] [-6.00153893e-02 9.98197344e-01 -4.64720257e-04 -1.35952148e-02] [-6.96071243e-03 4.70439359e-05 9.99975773e-01 -1.57116679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.77, Y:-0.01, Z:-1.57 [[ 9.97854449e-01 6.52790372e-02 5.01447582e-03 6.07695594e+01] [-6.52781768e-02 9.97867049e-01 -3.35243515e-04 -1.06602732e-02] [-5.02566456e-03 7.18839415e-06 9.99987371e-01 -1.57250975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:-0.01, Z:-1.57 [[ 9.97624364e-01 6.87364970e-02 4.57402924e-03 6.08013832e+01] [-6.87358139e-02 9.97634850e-01 -3.06556201e-04 -9.74467161e-03] [-4.58428258e-03 -8.57168769e-06 9.99989492e-01 -1.57379472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.83, Y:-0.01, Z:-1.57 [[ 9.97380605e-01 7.21445395e-02 5.20514218e-03 6.08339416e+01] [-7.21436931e-02 9.97394187e-01 -3.50437688e-04 -8.65239064e-03] [-5.21686072e-03 -2.59984264e-05 9.99986392e-01 -1.57457229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.87, Y:-0.01, Z:-1.58 [[ 9.97136715e-01 7.53770735e-02 6.05549190e-03 6.08658954e+01] [-7.53759766e-02 9.97155101e-01 -4.09488259e-04 -8.32732894e-03] [-6.06913066e-03 -4.81228380e-05 9.99981581e-01 -1.57555859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:-0.01, Z:-1.58 [[ 9.96741860e-01 8.04472851e-02 5.82233625e-03 6.08990285e+01] [-8.04463540e-02 9.96758862e-01 -3.94322708e-04 -1.08415611e-02] [-5.83518744e-03 -7.53477729e-05 9.99982972e-01 -1.57673068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.93, Y:-0.01, Z:-1.58 [[ 9.96575967e-01 8.24705308e-02 5.91218768e-03 6.09315404e+01] [-8.24695994e-02 9.96593500e-01 -4.01571228e-04 -1.36072106e-02] [-5.92516560e-03 -8.73795143e-05 9.99982442e-01 -1.57761659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.96, Y:-0.01, Z:-1.58 [[ 9.96455388e-01 8.38349073e-02 6.95470152e-03 6.09637557e+01] [-8.38336287e-02 9.96479652e-01 -4.75684551e-04 -1.43046871e-02] [-6.97009752e-03 -1.09039431e-04 9.99975703e-01 -1.57796682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.01, Z:-1.58 [[ 9.96296860e-01 8.56570633e-02 7.44542899e-03 6.09964124e+01] [-8.56556471e-02 9.96324671e-01 -5.09460880e-04 -1.02493813e-02] [-7.46170351e-03 -1.30168763e-04 9.99972153e-01 -1.57874777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.01, Z:-1.58 [[ 9.96293758e-01 8.57483412e-02 6.78004658e-03 6.10286675e+01] [-8.57471631e-02 9.96316821e-01 -4.64790774e-04 -1.06240518e-02] [-6.79492949e-03 -1.18301613e-04 9.99976907e-01 -1.58008200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.01, Z:-1.58 [[ 9.96350431e-01 8.51755029e-02 5.56354801e-03 6.10601941e+01] [-8.51746991e-02 9.96365959e-01 -3.81682789e-04 -1.18132955e-02] [-5.57583987e-03 -9.35837161e-05 9.99984451e-01 -1.58122481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.01, Z:-1.58 [[ 9.96399017e-01 8.46763058e-02 4.34993024e-03 6.10929480e+01] [-8.46758117e-02 9.96408510e-01 -2.97977594e-04 -1.33395128e-02] [-4.35953915e-03 -7.14292924e-05 9.99990495e-01 -1.58244069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.13, Y:-0.01, Z:-1.58 [[ 9.96438688e-01 8.42518139e-02 3.40188189e-03 6.11264143e+01] [-8.42515103e-02 9.96444494e-01 -2.32716582e-04 -1.43336563e-02] [-3.40939327e-03 -5.47258820e-05 9.99994187e-01 -1.58310077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:-0.02, Z:-1.58 [[ 9.96488280e-01 8.36262865e-02 4.21332287e-03 6.11589941e+01] [-8.36258072e-02 9.96497185e-01 -2.90117790e-04 -1.50281430e-02] [-4.22282586e-03 -6.32435484e-05 9.99991082e-01 -1.58358947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.19, Y:-0.02, Z:-1.58 [[ 9.96659950e-01 8.14050779e-02 6.49293404e-03 6.11910799e+01] [-8.14038674e-02 9.96681096e-01 -4.50942387e-04 -1.61976274e-02] [-6.50809361e-03 -7.91137243e-05 9.99978819e-01 -1.58290205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.22, Y:-0.02, Z:-1.58 [[ 9.96749699e-01 8.03375976e-02 5.99236963e-03 6.12228827e+01] [-8.03365419e-02 9.96767709e-01 -4.17059816e-04 -1.83895060e-02] [-6.00650613e-03 -6.57020082e-05 9.99981959e-01 -1.58325580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.02, Z:-1.58 [[ 9.96966888e-01 7.76509761e-02 5.22965343e-03 6.12556956e+01] [-7.76501351e-02 9.96980604e-01 -3.63970630e-04 -2.03100926e-02] [-5.24212570e-03 -4.32166285e-05 9.99986259e-01 -1.58452356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.02, Z:-1.59 [[ 9.97045270e-01 7.66128159e-02 5.58617454e-03 6.12879071e+01] [-7.66118309e-02 9.97060918e-01 -3.90406512e-04 -2.21735898e-02] [-5.59966646e-03 -3.87140929e-05 9.99984321e-01 -1.58500822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:61.32, Y:-0.02, Z:-1.59 [[ 9.97081111e-01 7.60685707e-02 6.54445150e-03 6.13200638e+01] [-7.60671874e-02 9.97102588e-01 -4.60384237e-04 -2.36946888e-02] [-6.56051030e-03 -3.87775918e-05 9.99978479e-01 -1.58559089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.02, Z:-1.59 [[ 9.97084826e-01 7.58380164e-02 8.39321045e-03 6.13535685e+01] [-7.58357273e-02 9.97120150e-01 -5.91111190e-04 -2.45894608e-02] [-8.41386796e-03 -4.71172218e-05 9.99964602e-01 -1.58535006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.39, Y:-0.03, Z:-1.59 [[ 9.97100898e-01 7.56681215e-02 8.00844294e-03 6.13863116e+01] [-7.56660217e-02 9.97133057e-01 -5.65300251e-04 -2.73757914e-02] [-8.02825839e-03 -4.23056294e-05 9.99967772e-01 -1.58566956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.03, Z:-1.59 [[ 9.97150665e-01 7.51269449e-02 6.81853681e-03 6.14189832e+01] [-7.51254056e-02 9.97173977e-01 -4.81965893e-04 -3.22966482e-02] [-6.83547609e-03 -3.16527327e-05 9.99976637e-01 -1.58654385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.45, Y:-0.04, Z:-1.59 [[ 9.97119002e-01 7.54980323e-02 7.33089926e-03 6.14519921e+01] [-7.54962510e-02 9.97145950e-01 -5.19817350e-04 -3.56939614e-02] [-7.34922169e-03 -3.51356526e-05 9.99972993e-01 -1.58745201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.04, Z:-1.59 [[ 9.97072237e-01 7.61397966e-02 7.04886435e-03 6.14834417e+01] [-7.61381489e-02 9.97097152e-01 -5.02200773e-04 -3.85274885e-02] [-7.06664003e-03 -3.59570355e-05 9.99975030e-01 -1.58807999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.52, Y:-0.04, Z:-1.59 [[ 9.97002407e-01 7.71499237e-02 5.83860840e-03 6.15160261e+01] [-7.71488169e-02 9.97019502e-01 -4.14885864e-04 -4.06789760e-02] [-5.85321485e-03 -3.67995248e-05 9.99982869e-01 -1.58893254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.55, Y:-0.04, Z:-1.59 [[ 9.96718784e-01 8.07763485e-02 5.18151259e-03 6.15482944e+01] [-8.07755163e-02 9.96732250e-01 -3.70040113e-04 -4.05645059e-02] [-5.19447119e-03 -4.97134233e-05 9.99986507e-01 -1.59057115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.58, Y:-0.04, Z:-1.59 [[ 9.96550703e-01 8.27793379e-02 5.85470177e-03 6.15811060e+01] [-8.27783114e-02 9.96567899e-01 -4.17853197e-04 -4.18419153e-02] [-5.86919745e-03 -6.82304286e-05 9.99982774e-01 -1.59136318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.61, Y:-0.04, Z:-1.59 [[ 9.96538976e-01 8.29204050e-02 5.85454020e-03 6.16145016e+01] [-8.29193678e-02 9.96556171e-01 -4.20094352e-04 -4.44052875e-02] [-5.86921256e-03 -6.68143766e-05 9.99982774e-01 -1.59213423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.05, Z:-1.59 [[ 9.96234890e-01 8.64754818e-02 6.16721886e-03 6.16463049e+01] [-8.64743908e-02 9.96253975e-01 -4.43830923e-04 -4.72705434e-02] [-6.18249679e-03 -9.11466426e-05 9.99980884e-01 -1.59304483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694203822000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.05, Z:-1.59 [[ 9.96112694e-01 8.78930953e-02 5.85698631e-03 6.16796248e+01] [-8.78921385e-02 9.96129909e-01 -4.21057080e-04 -5.09079885e-02] [-5.87132725e-03 -9.53627493e-05 9.99982759e-01 -1.59376692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.71, Y:-0.05, Z:-1.59 [[ 9.96029147e-01 8.88581271e-02 5.49288307e-03 6.17129592e+01] [-8.88572967e-02 9.96044288e-01 -3.95507092e-04 -5.40304936e-02] [-5.50629883e-03 -9.41461490e-05 9.99984836e-01 -1.59495985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.75, Y:-0.06, Z:-1.60 [[ 9.95982218e-01 8.93775851e-02 5.57390627e-03 6.17452928e+01] [-8.93767245e-02 9.95997810e-01 -4.03793416e-04 -5.68700116e-02] [-5.58768852e-03 -9.60064225e-05 9.99984384e-01 -1.59586188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.06, Z:-1.60 [[ 9.96030250e-01 8.86869697e-02 7.63954658e-03 6.17773546e+01] [-8.86853245e-02 9.96059539e-01 -5.54524937e-04 -5.99928958e-02] [-7.65862238e-03 -1.25192056e-04 9.99970664e-01 -1.59521657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.81, Y:-0.06, Z:-1.60 [[ 9.96129268e-01 8.74999920e-02 8.38050051e-03 6.18106642e+01] [-8.74979548e-02 9.96164512e-01 -6.10136830e-04 -6.36880424e-02] [-8.40174418e-03 -1.25501501e-04 9.99964697e-01 -1.59551244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844203822000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.07, Z:-1.60 [[ 9.96363617e-01 8.46624815e-02 9.58155044e-03 6.18428053e+01] [-8.46596550e-02 9.96409681e-01 -7.00930100e-04 -6.77479889e-02] [-9.60649209e-03 -1.12789504e-04 9.99953850e-01 -1.59562714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874203822000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.88, Y:-0.07, Z:-1.60 [[ 9.96442723e-01 8.37025923e-02 9.78650681e-03 6.18753826e+01] [-8.36995955e-02 9.96490775e-01 -7.16113827e-04 -7.15377420e-02] [-9.81210434e-03 -1.05560250e-04 9.99951855e-01 -1.59625464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.08, Z:-1.60 [[ 9.96521285e-01 8.28273442e-02 9.21734536e-03 6.19083094e+01] [-8.28246347e-02 9.96563908e-01 -6.75945446e-04 -7.66842595e-02] [-9.24166048e-03 -8.98292375e-05 9.99957291e-01 -1.59745212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.09, Z:-1.60 [[ 9.96614986e-01 8.18214141e-02 7.98913346e-03 6.19398236e+01] [-8.18193296e-02 9.96647005e-01 -5.87949140e-04 -8.56850027e-02] [-8.01045277e-03 -6.77066210e-05 9.99967914e-01 -1.59887915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.09, Z:-1.60 [[ 9.96540685e-01 8.27117098e-02 8.08928692e-03 6.19723704e+01] [-8.27096015e-02 9.96573513e-01 -5.95397059e-04 -8.94049337e-02] [-8.11081540e-03 -7.57243044e-05 9.99967104e-01 -1.59980238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.01, Y:-0.09, Z:-1.60 [[ 9.96404692e-01 8.44031329e-02 7.33486699e-03 6.20052351e+01] [-8.44014385e-02 9.96431686e-01 -5.40793071e-04 -9.20573422e-02] [-7.35433851e-03 -8.02245718e-05 9.99972953e-01 -1.60022687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.04, Y:-0.09, Z:-1.60 [[ 9.95952508e-01 8.97329432e-02 5.15757745e-03 6.20377459e+01] [-8.97321787e-02 9.95965859e-01 -3.79904909e-04 -9.47151334e-02] [-5.17086104e-03 -8.44334150e-05 9.99986627e-01 -1.60157631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.07, Y:-0.10, Z:-1.60 [[ 9.95630455e-01 9.32887455e-02 4.14807002e-03 6.20692612e+01] [-9.32882811e-02 9.95639093e-01 -3.05725394e-04 -9.80734585e-02] [-4.15850141e-03 -8.25768087e-05 9.99991350e-01 -1.60268391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.10, Y:-0.10, Z:-1.60 [[ 9.95282945e-01 9.69611017e-02 3.22540340e-03 6.21022509e+01] [-9.69608424e-02 9.95288169e-01 -2.37046762e-04 -1.02520405e-01] [-3.23319016e-03 -7.68092310e-05 9.99994770e-01 -1.60358162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.13, Y:-0.11, Z:-1.60 [[ 9.94514053e-01 1.04545868e-01 3.45828943e-03 6.21344762e+01] [-1.04545608e-01 9.94520060e-01 -2.56604804e-04 -1.06591097e-01] [-3.46616519e-03 -1.06351886e-04 9.99993987e-01 -1.60364971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.17, Y:-0.11, Z:-1.60 [[ 9.94113583e-01 1.08273406e-01 3.87979350e-03 6.21665855e+01] [-1.08273107e-01 9.94121145e-01 -2.87662569e-04 -1.07887041e-01] [-3.88813097e-03 -1.34108030e-04 9.99992432e-01 -1.60434342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.20, Y:-0.11, Z:-1.61 [[ 9.93760382e-01 1.11446266e-01 4.47578880e-03 6.21996714e+01] [-1.11445895e-01 9.93770447e-01 -3.33071454e-04 -1.08612474e-01] [-4.48502621e-03 -1.67815071e-04 9.99989928e-01 -1.60531733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.23, Y:-0.11, Z:-1.61 [[ 9.93455657e-01 1.14099619e-01 5.20901493e-03 6.22324136e+01] [-1.14099143e-01 9.93469292e-01 -3.89274895e-04 -1.09709736e-01] [-5.21941249e-03 -2.07616794e-04 9.99986357e-01 -1.60618175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.26, Y:-0.11, Z:-1.61 [[ 9.92942515e-01 1.18429888e-01 6.28679892e-03 6.22645795e+01] [-1.18429262e-01 9.92962379e-01 -4.73064340e-04 -1.11259801e-01] [-6.29857977e-03 -2.74815262e-04 9.99980126e-01 -1.60700450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.30, Y:-0.11, Z:-1.61 [[ 9.92782918e-01 1.19744687e-01 6.57927475e-03 6.22971588e+01] [-1.19744031e-01 9.92804675e-01 -4.94859016e-04 -1.13775169e-01] [-6.59119146e-03 -2.96541304e-04 9.99978234e-01 -1.60758761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.33, Y:-0.12, Z:-1.61 [[ 9.92727069e-01 1.20216373e-01 6.40239816e-03 6.23297974e+01] [-1.20215755e-01 9.92747671e-01 -4.82635688e-04 -1.15210281e-01] [-6.41398658e-03 -2.90543620e-04 9.99979388e-01 -1.60905353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.36, Y:-0.12, Z:-1.61 [[ 9.92813422e-01 1.19520324e-01 6.03335560e-03 6.23623744e+01] [-1.19519759e-01 9.92831718e-01 -4.55535594e-04 -1.16175273e-01] [-6.04455256e-03 -2.68843352e-04 9.99981695e-01 -1.61007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.12, Z:-1.61 [[ 9.92959043e-01 1.18305726e-01 6.00792087e-03 6.23948428e+01] [-1.18305128e-01 9.92977184e-01 -4.55957683e-04 -1.17190615e-01] [-6.01967075e-03 -2.58020545e-04 9.99981848e-01 -1.61079049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.43, Y:-0.12, Z:-1.61 [[ 9.93393599e-01 1.14510438e-01 7.51779285e-03 6.24270087e+01] [-1.14509389e-01 9.93422002e-01 -5.71271437e-04 -1.16870235e-01] [-7.53375736e-03 -2.93360477e-04 9.99971578e-01 -1.61077926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.46, Y:-0.12, Z:-1.61 [[ 9.93635521e-01 1.12404287e-01 7.32989242e-03 6.24596557e+01] [-1.12403225e-01 9.93662520e-01 -5.57977691e-04 -1.18445122e-01] [-7.34615846e-03 -2.69477094e-04 9.99972980e-01 -1.61144381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:-0.12, Z:-1.61 [[ 9.93867332e-01 1.10366686e-01 6.84985599e-03 6.24926865e+01] [-1.10365704e-01 9.93890909e-01 -5.22426611e-04 -1.20342584e-01] [-6.86566809e-03 -2.36766434e-04 9.99976403e-01 -1.61284283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.53, Y:-0.12, Z:-1.61 [[ 9.94277926e-01 1.06665931e-01 5.81251307e-03 6.25261445e+01] [-1.06665159e-01 9.94294899e-01 -4.43596534e-04 -1.21770952e-01] [-5.82666873e-03 -1.78934388e-04 9.99983009e-01 -1.61360981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.56, Y:-0.12, Z:-1.61 [[ 9.94372557e-01 1.05783981e-01 5.74170974e-03 6.25580756e+01] [-1.05783206e-01 9.94389119e-01 -4.39488072e-04 -1.23183300e-01] [-5.75598449e-03 -1.70361584e-04 9.99983420e-01 -1.61437357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:-0.12, Z:-1.62 [[ 9.94492837e-01 1.04657598e-01 5.54836010e-03 6.25915467e+01] [-1.04656852e-01 9.94508302e-01 -4.25345305e-04 -1.24125887e-01] [-5.56240580e-03 -1.57671045e-04 9.99984517e-01 -1.61529343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.62, Y:-0.12, Z:-1.62 [[ 9.94643751e-01 1.03235582e-01 5.12089184e-03 6.26235811e+01] [-1.03234918e-01 9.94656924e-01 -3.94526391e-04 -1.22031329e-01] [-5.13425969e-03 -1.36241640e-04 9.99986810e-01 -1.61604669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.66, Y:-0.12, Z:-1.62 [[ 9.94698468e-01 1.02738531e-01 4.44428960e-03 6.26564545e+01] [-1.02738031e-01 9.94708390e-01 -3.41294188e-04 -1.21251323e-01] [-4.45583622e-03 -1.17112756e-04 9.99990066e-01 -1.61715724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.69, Y:-0.12, Z:-1.62 [[ 9.94793796e-01 1.01868742e-01 2.83941571e-03 6.26886573e+01] [-1.01868533e-01 9.94797846e-01 -2.18455384e-04 -1.17206318e-01] [-2.84689841e-03 -7.19290532e-05 9.99995945e-01 -1.61919145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.72, Y:-0.12, Z:-1.62 [[ 9.94845488e-01 1.01366256e-01 2.70875136e-03 6.27195942e+01] [-1.01366059e-01 9.94849173e-01 -2.10524001e-04 -1.16926154e-01] [-2.71613908e-03 -6.51365965e-05 9.99996309e-01 -1.62044828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:-0.12, Z:-1.62 [[ 9.94921885e-01 1.00605218e-01 3.00553621e-03 6.27504869e+01] [-1.00604970e-01 9.94926422e-01 -2.33957093e-04 -1.16514626e-01] [-3.01382469e-03 -6.96028487e-05 9.99995456e-01 -1.62070858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.78, Y:-0.11, Z:-1.62 [[ 9.95083536e-01 9.89692035e-02 3.72209771e-03 6.27819954e+01] [-9.89688122e-02 9.95090494e-01 -2.89610154e-04 -1.11445795e-01] [-3.73248653e-03 -8.01852932e-05 9.99993031e-01 -1.62057270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-0.11, Z:-1.62 [[ 9.95188936e-01 9.78984877e-02 3.85581932e-03 6.28122025e+01] [-9.78980619e-02 9.95196403e-01 -2.99491934e-04 -1.09595493e-01] [-3.86661732e-03 -7.94261791e-05 9.99992521e-01 -1.62135445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.84, Y:-0.11, Z:-1.62 [[ 9.95316825e-01 9.65921924e-02 3.79030782e-03 6.28429896e+01] [-9.65917706e-02 9.95324039e-01 -2.94601383e-04 -1.07399357e-01] [-3.80104068e-03 -7.28908305e-05 9.99992773e-01 -1.62200148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.87, Y:-0.11, Z:-1.62 [[ 9.95460474e-01 9.51104847e-02 3.52701537e-03 6.28744500e+01] [-9.51101075e-02 9.95466721e-01 -2.74896877e-04 -1.05068854e-01] [-3.53717200e-03 -6.18058352e-05 9.99993742e-01 -1.62228528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:-0.10, Z:-1.62 [[ 9.95707455e-01 9.25112986e-02 2.88499208e-03 6.29054084e+01] [-9.25110340e-02 9.95711634e-01 -2.25297873e-04 -9.69168687e-02] [-2.89346277e-03 -4.25628278e-05 9.99995813e-01 -1.62253615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:-0.09, Z:-1.62 [[ 9.95797988e-01 9.15193631e-02 3.25155047e-03 6.29366934e+01] [-9.15190217e-02 9.95803296e-01 -2.53923542e-04 -9.38456138e-02] [-3.26114359e-03 -4.47221659e-05 9.99994681e-01 -1.62341473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.97, Y:-0.09, Z:-1.62 [[ 9.95985614e-01 8.93965901e-02 4.57233167e-03 6.29667705e+01] [-8.93958917e-02 9.95996108e-01 -3.57297190e-04 -8.82768578e-02] [-4.58596570e-03 -5.28848053e-05 9.99989483e-01 -1.62426249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.00, Y:-0.09, Z:-1.62 [[ 9.96114272e-01 8.79439315e-02 4.71408999e-03 6.29973317e+01] [-8.79431743e-02 9.96125425e-01 -3.68078732e-04 -8.69367594e-02] [-4.72819518e-03 -4.79235595e-05 9.99988821e-01 -1.62443965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.03, Y:-0.08, Z:-1.62 [[ 9.96247124e-01 8.64038206e-02 5.10376804e-03 6.30266562e+01] [-8.64029118e-02 9.96260196e-01 -3.98712757e-04 -8.41512282e-02] [-5.11913125e-03 -4.37639817e-05 9.99986896e-01 -1.62423189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.07, Z:-1.62 [[ 9.96502550e-01 8.30987245e-02 8.79032916e-03 6.30576215e+01] [-8.30959009e-02 9.96541319e-01 -6.86595819e-04 -7.42242971e-02] [-8.81698145e-03 -4.62458359e-05 9.99961129e-01 -1.62357965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-0.07, Z:-1.62 [[ 9.96637604e-01 8.12947073e-02 1.02301487e-02 6.30883785e+01] [-8.12907945e-02 9.96690107e-01 -7.98407209e-04 -7.19270359e-02] [-1.02611943e-02 -3.58942702e-05 9.99947352e-01 -1.62436141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.07, Z:-1.63 [[ 9.96817320e-01 7.90564312e-02 1.02621398e-02 6.31192598e+01] [-7.90523768e-02 9.96870142e-01 -8.00750413e-04 -7.03935570e-02] [-1.02933253e-02 -1.30446647e-05 9.99947022e-01 -1.62509397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:-0.07, Z:-1.63 [[ 9.97292948e-01 7.28999006e-02 9.61146083e-03 6.31505341e+01] [-7.28960586e-02 9.97339261e-01 -7.49925541e-04 -6.62317907e-02] [-9.64055674e-03 4.72578414e-05 9.99953528e-01 -1.62612668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.18, Y:-0.07, Z:-1.63 [[ 9.97560636e-01 6.91327126e-02 9.66671616e-03 6.31819436e+01] [-6.91286472e-02 9.97607468e-01 -7.54454528e-04 -6.74045061e-02] [-9.69574573e-03 8.43671277e-05 9.99952992e-01 -1.62740959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:-0.07, Z:-1.63 [[ 9.97812047e-01 6.54484668e-02 9.36034885e-03 6.32133124e+01] [-6.54444909e-02 9.97855944e-01 -7.30755951e-04 -7.01180400e-02] [-9.38810659e-03 1.16573826e-04 9.99955924e-01 -1.62891230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:-0.07, Z:-1.63 [[ 9.98239184e-01 5.89295586e-02 6.77036467e-03 6.32449292e+01] [-5.89273447e-02 9.98262136e-01 -5.26181680e-04 -7.27917498e-02] [-6.78960635e-03 1.26295558e-04 9.99976942e-01 -1.63079873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.27, Y:-0.07, Z:-1.63 [[ 9.98379745e-01 5.66382670e-02 5.47648260e-03 6.32748545e+01] [-5.66367676e-02 9.98394758e-01 -4.28601183e-04 -7.36116709e-02] [-5.49196675e-03 1.17736467e-04 9.99984912e-01 -1.63181092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.08, Z:-1.63 [[ 9.98495226e-01 5.46238990e-02 4.84914624e-03 6.33054146e+01] [-5.46227035e-02 9.98506994e-01 -3.78739426e-04 -7.59755634e-02] [-4.86259465e-03 1.13296031e-04 9.99988171e-01 -1.63303374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:-0.08, Z:-1.63 [[ 9.98475031e-01 5.50242732e-02 4.46553474e-03 6.33346840e+01] [-5.50232571e-02 9.98485012e-01 -3.50176881e-04 -7.83257969e-02] [-4.47803774e-03 1.03934606e-04 9.99989968e-01 -1.63330652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.08, Z:-1.63 [[ 9.98411919e-01 5.62057927e-02 3.81434089e-03 6.33653613e+01] [-5.62050608e-02 9.98419201e-01 -2.98880792e-04 -7.99618827e-02] [-3.82511001e-03 8.40208832e-05 9.99992681e-01 -1.63373702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.08, Z:-1.63 [[ 9.98290753e-01 5.83035559e-02 4.03342768e-03 6.33952791e+01] [-5.83027528e-02 9.98298898e-01 -3.16502834e-04 -8.09949503e-02] [-4.04501965e-03 8.08019150e-05 9.99991816e-01 -1.63396152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:-0.08, Z:-1.63 [[ 9.97896150e-01 6.45518634e-02 6.02747268e-03 6.34236815e+01] [-6.45501851e-02 9.97914350e-01 -4.72759267e-04 -8.36689133e-02] [-6.04541897e-03 8.26901756e-05 9.99981723e-01 -1.63451786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:-0.09, Z:-1.63 [[ 9.97664810e-01 6.79528404e-02 6.88024975e-03 6.34532651e+01] [-6.79507398e-02 9.97688532e-01 -5.38888892e-04 -8.67037741e-02] [-6.90096530e-03 7.01124241e-05 9.99976186e-01 -1.63433165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.09, Z:-1.63 [[ 9.97428782e-01 7.12572590e-02 7.63066552e-03 6.34838926e+01] [-7.12547741e-02 9.97457969e-01 -5.97370082e-04 -8.86531377e-02] [-7.65383509e-03 5.21127654e-05 9.99970708e-01 -1.63463525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.51, Y:-0.09, Z:-1.64 [[ 9.96954869e-01 7.75139634e-02 8.51903217e-03 6.35133870e+01] [-7.75110915e-02 9.96991266e-01 -6.67266331e-04 -8.83636073e-02] [-8.54512313e-03 4.91493591e-06 9.99963490e-01 -1.63537531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:-0.09, Z:-1.64 [[ 9.96756747e-01 8.00357233e-02 8.38278526e-03 6.35433309e+01] [-8.00330333e-02 9.96791996e-01 -6.56399574e-04 -9.01310602e-02] [-8.40842867e-03 -1.66290279e-05 9.99964648e-01 -1.63631891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.57, Y:-0.09, Z:-1.64 [[ 9.96759965e-01 7.99956329e-02 8.38278275e-03 6.35733965e+01] [-7.99929412e-02 9.96795214e-01 -6.56431839e-04 -9.24315699e-02] [-8.40842941e-03 -1.62584704e-05 9.99964648e-01 -1.63701282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.60, Y:-0.10, Z:-1.64 [[ 9.96440592e-01 8.37913796e-02 9.22777165e-03 6.36020794e+01] [-8.37882870e-02 9.96483317e-01 -7.21912357e-04 -9.60865663e-02] [-9.25581054e-03 -5.38364033e-05 9.99957163e-01 -1.63789888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:-0.10, Z:-1.64 [[ 9.96362539e-01 8.46468647e-02 9.82845265e-03 6.36326615e+01] [-8.46434038e-02 9.96411012e-01 -7.68310634e-04 -9.94209633e-02] [-9.85821353e-03 -6.63977514e-05 9.99951404e-01 -1.63864994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.66, Y:-0.10, Z:-1.64 [[ 9.96319792e-01 8.50635104e-02 1.05390426e-02 6.36621141e+01] [-8.50595527e-02 9.96375528e-01 -8.24006141e-04 -1.03323771e-01] [-1.05709370e-02 -7.54726198e-05 9.99944123e-01 -1.63968727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:-0.11, Z:-1.64 [[ 9.96367516e-01 8.44907724e-02 1.06340251e-02 6.36926141e+01] [-8.44867134e-02 9.96424259e-01 -8.31157615e-04 -1.09739424e-01] [-1.06662257e-02 -7.02953839e-05 9.99943112e-01 -1.64063799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:63.72, Y:-0.11, Z:-1.64 [[ 9.96401471e-01 8.41878471e-02 9.82421111e-03 6.37227198e+01] [-8.41843680e-02 9.96449900e-01 -7.67862384e-04 -1.13219931e-01] [-9.85397885e-03 -6.19457942e-05 9.99951446e-01 -1.64064278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.75, Y:-0.12, Z:-1.64 [[ 9.96467623e-01 8.34021287e-02 9.81636451e-03 6.37532051e+01] [-8.33986171e-02 9.96515972e-01 -7.67249093e-04 -1.17167241e-01] [-9.84615423e-03 -5.41323454e-05 9.99951524e-01 -1.64229789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:-0.12, Z:-1.64 [[ 9.96575588e-01 8.20358723e-02 1.03544023e-02 6.37840039e+01] [-8.20318946e-02 9.96629376e-01 -8.08996135e-04 -1.23593454e-01] [-1.03858682e-02 -4.31654412e-05 9.99946064e-01 -1.64413461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:-0.13, Z:-1.65 [[ 9.96683032e-01 8.06759462e-02 1.06923126e-02 6.38143630e+01] [-8.06716218e-02 9.96740383e-01 -8.35824958e-04 -1.29036169e-01] [-1.07248907e-02 -2.95136422e-05 9.99942486e-01 -1.64518346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.85, Y:-0.13, Z:-1.65 [[ 9.96807735e-01 7.91280863e-02 1.06341375e-02 6.38450074e+01] [-7.91237209e-02 9.96864457e-01 -8.31265104e-04 -1.34871585e-01] [-1.06665701e-02 -1.28010431e-05 9.99943110e-01 -1.64592410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:-0.15, Z:-1.65 [[ 9.97017519e-01 7.65036572e-02 1.01615355e-02 6.38760728e+01] [-7.64995519e-02 9.97069301e-01 -7.92644993e-04 -1.45335295e-01] [-1.01923953e-02 1.29280328e-05 9.99948056e-01 -1.64711126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.91, Y:-0.15, Z:-1.65 [[ 9.97055422e-01 7.60630223e-02 9.74175688e-03 6.39076315e+01] [-7.60592148e-02 9.97103012e-01 -7.61271701e-04 -1.51832544e-01] [-9.77143975e-03 1.80796987e-05 9.99952258e-01 -1.64817667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.94, Y:-0.16, Z:-1.65 [[ 9.96955320e-01 7.76581063e-02 7.02192839e-03 6.39392638e+01] [-7.76561655e-02 9.96980049e-01 -5.49045627e-04 -1.60951989e-01] [-7.04336035e-03 2.07792646e-06 9.99975195e-01 -1.64888544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:-0.17, Z:-1.65 [[ 9.96813459e-01 7.95044281e-02 6.47879020e-03 6.39689552e+01] [-7.95027928e-02 9.96834513e-01 -5.09963219e-04 -1.65375309e-01] [-6.49882601e-03 -6.74371535e-06 9.99978882e-01 -1.64963510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.00, Y:-0.17, Z:-1.65 [[ 9.96626948e-01 8.17674318e-02 6.98670056e-03 6.39991816e+01] [-8.17655836e-02 9.96651437e-01 -5.50240410e-04 -1.69297523e-01] [-7.00829690e-03 -2.28872288e-05 9.99975441e-01 -1.65016197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.17, Z:-1.65 [[ 9.96384284e-01 8.46062709e-02 7.75482862e-03 6.40294805e+01] [-8.46040813e-02 9.96414460e-01 -6.10550797e-04 -1.72870534e-01] [-7.77867980e-03 -4.77469326e-05 9.99969744e-01 -1.65039553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.06, Y:-0.18, Z:-1.65 [[ 9.95776838e-01 9.13449359e-02 9.19739166e-03 6.40598823e+01] [-9.13421402e-02 9.95819305e-01 -7.24455687e-04 -1.77652785e-01] [-9.22511554e-03 -1.18713246e-04 9.99957441e-01 -1.65139233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.18, Z:-1.65 [[ 9.95463338e-01 9.46441078e-02 9.75882385e-03 6.40913416e+01] [-9.46411218e-02 9.95511159e-01 -7.68365617e-04 -1.81835389e-01] [-9.78773932e-03 -1.58706235e-04 9.99952086e-01 -1.65194940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.12, Y:-0.19, Z:-1.65 [[ 9.95194859e-01 9.73544908e-02 1.04544620e-02 6.41224963e+01] [-9.73512104e-02 9.95249749e-01 -8.23425022e-04 -1.86008797e-01] [-1.04849648e-02 -1.98286185e-04 9.99945012e-01 -1.65251631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.19, Z:-1.65 [[ 9.94765198e-01 1.01555535e-01 1.13434572e-02 6.41532774e+01] [-1.01551960e-01 9.94829836e-01 -8.92265059e-04 -1.91381928e-01] [-1.13754241e-02 -2.64356080e-04 9.99935263e-01 -1.65287429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:-0.20, Z:-1.65 [[ 9.94634354e-01 1.02878764e-01 1.08840282e-02 6.41848037e+01] [-1.02875536e-01 9.94693867e-01 -8.57488826e-04 -1.95399278e-01] [-1.09144935e-02 -2.66812392e-04 9.99940400e-01 -1.65404132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:-0.20, Z:-1.66 [[ 9.94573653e-01 1.03507247e-01 1.04641947e-02 6.42160112e+01] [-1.03504280e-01 9.94628665e-01 -8.26154948e-04 -1.99415734e-01] [-1.04935010e-02 -2.61416993e-04 9.99944908e-01 -1.65541416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:-0.20, Z:-1.66 [[ 9.94641477e-01 1.02870207e-01 1.02981487e-02 6.42479016e+01] [-1.02867285e-01 9.94694756e-01 -8.14422436e-04 -2.03879640e-01] [-1.03272943e-02 -2.49284269e-04 9.99946641e-01 -1.65670898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.28, Y:-0.21, Z:-1.66 [[ 9.94730381e-01 1.02079403e-01 9.55329800e-03 6.42801351e+01] [-1.02076841e-01 9.94776229e-01 -7.56659205e-04 -2.08282421e-01] [-9.58063308e-03 -2.22498581e-04 9.99954080e-01 -1.65794692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.31, Y:-0.21, Z:-1.66 [[ 9.94896613e-01 1.00538023e-01 8.53439811e-03 6.43117598e+01] [-1.00535911e-01 9.94933200e-01 -6.77179016e-04 -2.13447804e-01] [-8.55923826e-03 -1.84290379e-04 9.99963352e-01 -1.65982806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:-0.22, Z:-1.66 [[ 9.95309191e-01 9.63685642e-02 8.52720789e-03 6.43427246e+01] [-9.63662851e-02 9.95345708e-01 -6.78708661e-04 -2.22075870e-01] [-8.55292596e-03 -1.46210378e-04 9.99963412e-01 -1.66160963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.38, Y:-0.23, Z:-1.66 [[ 9.95521669e-01 9.41442530e-02 8.57118349e-03 6.43751423e+01] [-9.41418655e-02 9.95558558e-01 -6.82487128e-04 -2.26361200e-01] [-8.59736732e-03 -1.27476478e-04 9.99963034e-01 -1.66221096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.41, Y:-0.23, Z:-1.66 [[ 9.95749106e-01 9.17150987e-02 8.48877838e-03 6.44069938e+01] [-9.17126579e-02 9.95785283e-01 -6.77178304e-04 -2.30273530e-01] [-8.51510806e-03 -1.04228737e-04 9.99963740e-01 -1.66253702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:-0.24, Z:-1.66 [[ 9.96156185e-01 8.71786685e-02 8.52844700e-03 6.44386588e+01] [-8.71760249e-02 9.96192690e-01 -6.81946802e-04 -2.35914560e-01] [-8.55542777e-03 -6.41505831e-05 9.99963400e-01 -1.66422267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.47, Y:-0.24, Z:-1.67 [[ 9.96303748e-01 8.55275946e-02 7.99201747e-03 6.44703358e+01] [-8.55252103e-02 9.96335801e-01 -6.40249874e-04 -2.40693820e-01] [-8.01749216e-03 -4.56356257e-05 9.99967858e-01 -1.66501421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.50, Y:-0.25, Z:-1.67 [[ 9.96413798e-01 8.42683312e-02 7.64142774e-03 6.45027620e+01] [-8.42661069e-02 9.96443098e-01 -6.13152417e-04 -2.46040021e-01] [-7.66591726e-03 -3.29598386e-05 9.99970616e-01 -1.66621011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.53, Y:-0.25, Z:-1.67 [[ 9.96469271e-01 8.36096975e-02 7.64270763e-03 6.45341603e+01] [-8.36074405e-02 9.96498579e-01 -6.14899499e-04 -2.51798244e-01] [-7.66735885e-03 -2.62587677e-05 9.99970605e-01 -1.66618400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.57, Y:-0.25, Z:-1.67 [[ 9.96374463e-01 8.46789526e-02 8.21005454e-03 6.45670968e+01] [-8.46763723e-02 9.96408287e-01 -6.62014639e-04 -2.54413311e-01] [-8.23662509e-03 -3.55831547e-05 9.99966078e-01 -1.66643819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.26, Z:-1.67 [[ 9.96233756e-01 8.63078070e-02 8.32266292e-03 6.45993403e+01] [-8.63051965e-02 9.96268518e-01 -6.72978494e-04 -2.56758429e-01] [-8.34969035e-03 -4.78451662e-05 9.99965140e-01 -1.66726820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.63, Y:-0.26, Z:-1.67 [[ 9.96087171e-01 8.80293354e-02 7.82200120e-03 6.46316546e+01] [-8.80270732e-02 9.96117881e-01 -6.33686288e-04 -2.59799790e-01] [-7.84741825e-03 -5.73410904e-05 9.99969207e-01 -1.66788320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.26, Z:-1.67 [[ 9.95907579e-01 9.00758158e-02 7.37847995e-03 6.46649766e+01] [-9.00738520e-02 9.95934909e-01 -5.98702786e-04 -2.62630211e-01] [-7.40241440e-03 -6.83554691e-05 9.99972599e-01 -1.66904509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:-0.27, Z:-1.67 [[ 9.95900576e-01 9.01444578e-02 7.48458402e-03 6.46978689e+01] [-9.01424279e-02 9.95928698e-01 -6.08795605e-04 -2.65328410e-01] [-7.50899157e-03 -6.83786822e-05 9.99971805e-01 -1.67040296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.73, Y:-0.27, Z:-1.67 [[ 9.95955969e-01 8.95330555e-02 7.45250306e-03 6.47297616e+01] [-8.95310139e-02 9.95983849e-01 -6.07790108e-04 -2.68143555e-01] [-7.47698999e-03 -6.18979685e-05 9.99972045e-01 -1.67153258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.76, Y:-0.27, Z:-1.67 [[ 9.96040147e-01 8.86114707e-02 7.21334493e-03 6.47622401e+01] [-8.86095268e-02 9.96066265e-01 -5.89262961e-04 -2.71516407e-01] [-7.23718500e-03 -5.22415144e-05 9.99973810e-01 -1.67284956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:-0.28, Z:-1.67 [[ 9.96358695e-01 8.50684720e-02 5.71883512e-03 6.47948671e+01] [-8.50671913e-02 9.96375107e-01 -4.67261754e-04 -2.77681634e-01] [-5.73785420e-03 -2.09249294e-05 9.99983538e-01 -1.67485210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.28, Z:-1.68 [[ 9.96543406e-01 8.28422109e-02 6.19744717e-03 6.48262449e+01] [-8.28406526e-02 9.96562676e-01 -5.08163700e-04 -2.81943358e-01] [-6.21824195e-03 -6.99338401e-06 9.99980667e-01 -1.67568871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:-0.29, Z:-1.68 [[ 9.96896175e-01 7.82832213e-02 8.35181557e-03 6.48580152e+01] [-7.82802053e-02 9.96931159e-01 -6.87903647e-04 -2.89212579e-01] [-8.38003649e-03 3.19866772e-05 9.99964886e-01 -1.67596342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.29, Z:-1.68 [[ 9.97051233e-01 7.62743563e-02 8.42980740e-03 6.48895458e+01] [-7.62711989e-02 9.97086867e-01 -6.95874379e-04 -2.94113482e-01] [-8.45832762e-03 5.08708912e-05 9.99964226e-01 -1.67601942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.92, Y:-0.30, Z:-1.68 [[ 9.97166905e-01 7.47880623e-02 8.05664132e-03 6.49227530e+01] [-7.47851224e-02 9.97199449e-01 -6.65972816e-04 -2.98837433e-01] [-8.08388511e-03 6.15691436e-05 9.99967323e-01 -1.67658365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.30, Z:-1.68 [[ 9.97243981e-01 7.38225435e-02 7.39425768e-03 6.49539489e+01] [-7.38200310e-02 9.97271391e-01 -6.12512771e-04 -3.04534741e-01] [-7.41929890e-03 6.49803422e-05 9.99972475e-01 -1.67746840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.99, Y:-0.31, Z:-1.68 [[ 9.97212539e-01 7.42509199e-02 7.34520558e-03 6.49861044e+01] [-7.42484353e-02 9.97239588e-01 -6.10753084e-04 -3.09658149e-01] [-7.37027877e-03 6.36806129e-05 9.99972837e-01 -1.67817217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:-0.32, Z:-1.68 [[ 9.97126155e-01 7.54145736e-02 7.21622598e-03 6.50184788e+01] [-7.54122096e-02 9.97152265e-01 -5.99528530e-04 -3.15093162e-01] [-7.24088927e-03 5.36140317e-05 9.99973783e-01 -1.67800014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.05, Y:-0.32, Z:-1.68 [[ 9.96968330e-01 7.74289037e-02 7.67558525e-03 6.50499428e+01] [-7.74262729e-02 9.96997875e-01 -6.39759254e-04 -3.20441777e-01] [-7.70207805e-03 4.35277562e-05 9.99970338e-01 -1.67867174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.08, Y:-0.33, Z:-1.68 [[ 9.96495807e-01 8.33781811e-02 6.64719597e-03 6.50829115e+01] [-8.33763359e-02 9.96517977e-01 -5.54703619e-04 -3.26973012e-01] [-6.67030046e-03 -1.45901316e-06 9.99977753e-01 -1.67821653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:-0.33, Z:-1.68 [[ 9.96149102e-01 8.74683958e-02 6.02049283e-03 6.51144408e+01] [-8.74669511e-02 9.96167295e-01 -5.03352529e-04 -3.30205141e-01] [-6.04144549e-03 -2.51799824e-05 9.99981750e-01 -1.67867956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.15, Y:-0.33, Z:-1.68 [[ 9.95772969e-01 9.16629296e-02 5.83973137e-03 6.51473092e+01] [-9.16616380e-02 9.95790091e-01 -4.88987909e-04 -3.33230372e-01] [-5.85996870e-03 -4.83584019e-05 9.99982829e-01 -1.67972808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:-0.34, Z:-1.68 [[ 9.95367737e-01 9.59400203e-02 6.21133919e-03 6.51797868e+01] [-9.59386335e-02 9.95387114e-01 -5.21542856e-04 -3.37222899e-01] [-6.23272382e-03 -7.67804608e-05 9.99980573e-01 -1.68092052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.21, Y:-0.34, Z:-1.68 [[ 9.94687512e-01 1.02698995e-01 7.04770427e-03 6.52115268e+01] [-1.02697364e-01 9.94712470e-01 -5.93862130e-04 -3.40663435e-01] [-7.07142837e-03 -1.33073405e-04 9.99974988e-01 -1.68122092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:-0.34, Z:-1.68 [[ 9.94383499e-01 1.05602327e-01 7.04305669e-03 6.52445082e+01] [-1.05600764e-01 9.94408430e-01 -5.94563791e-04 -3.42127104e-01] [-7.06646226e-03 -1.52527743e-04 9.99975021e-01 -1.68180536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.28, Y:-0.34, Z:-1.68 [[ 9.94154998e-01 1.07718212e-01 7.25440212e-03 6.52774803e+01] [-1.07716599e-01 9.94181451e-01 -6.13775049e-04 -3.43652217e-01] [-7.27830678e-03 -1.71231994e-04 9.99973498e-01 -1.68287322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:-0.35, Z:-1.68 [[ 9.94036363e-01 1.08785338e-01 7.58012918e-03 6.53105754e+01] [-1.08783596e-01 9.94065247e-01 -6.42965024e-04 -3.46820727e-01] [-7.60508815e-03 -1.85463095e-04 9.99971064e-01 -1.68434751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.35, Z:-1.68 [[ 9.94094782e-01 1.08269030e-01 7.30624698e-03 6.53436055e+01] [-1.08267389e-01 9.94121616e-01 -6.20960515e-04 -3.50459338e-01] [-7.33052885e-03 -1.73734675e-04 9.99973116e-01 -1.68496051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:-0.35, Z:-1.69 [[ 9.94223370e-01 1.07087007e-01 7.22927753e-03 6.53755513e+01] [-1.07085351e-01 9.94249640e-01 -6.16872495e-04 -3.53603018e-01] [-7.25376561e-03 -1.60840673e-04 9.99973678e-01 -1.68547180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.41, Y:-0.36, Z:-1.69 [[ 9.94360287e-01 1.05794913e-01 7.41996042e-03 6.54082200e+01] [-1.05793134e-01 9.94387959e-01 -6.32976161e-04 -3.57253113e-01] [-7.44528495e-03 -1.55574508e-04 9.99972271e-01 -1.68623898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:-0.36, Z:-1.69 [[ 9.94672929e-01 1.02793958e-01 7.69191120e-03 6.54403743e+01] [-1.02791943e-01 9.94702661e-01 -6.57983755e-04 -3.60561325e-01] [-7.71880129e-03 -1.36187865e-04 9.99970200e-01 -1.68553228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:-0.36, Z:-1.69 [[ 9.94811893e-01 1.01388308e-01 8.34920963e-03 6.54732858e+01] [-1.01385870e-01 9.94846919e-01 -7.15863899e-04 -3.63182631e-01] [-8.37876570e-03 -1.34341963e-04 9.99964889e-01 -1.68603554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.50, Y:-0.37, Z:-1.69 [[ 9.94957943e-01 9.98931325e-02 8.94723212e-03 6.55047889e+01] [-9.98902525e-02 9.94998164e-01 -7.69320397e-04 -3.65240771e-01] [-8.97932936e-03 -1.28299836e-04 9.99959677e-01 -1.68648959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.54, Y:-0.37, Z:-1.69 [[ 9.95368619e-01 9.56005854e-02 1.00916376e-02 6.55367256e+01] [-9.55966773e-02 9.95419770e-01 -8.70035329e-04 -3.65390339e-01] [-1.01285915e-02 -9.87211594e-05 9.99948700e-01 -1.68720276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.37, Z:-1.69 [[ 9.95645664e-01 9.26039360e-02 1.06874722e-02 6.55693592e+01] [-9.25993591e-02 9.95703021e-01 -9.23358712e-04 -3.67958295e-01] [-1.07270550e-02 -7.03149787e-05 9.99942461e-01 -1.68811478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:-0.37, Z:-1.69 [[ 9.95952969e-01 8.91803951e-02 1.11598153e-02 6.56023378e+01] [-8.91751651e-02 9.96015490e-01 -9.66372348e-04 -3.71724606e-01] [-1.12015304e-02 -3.27169626e-05 9.99937260e-01 -1.68916935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.64, Y:-0.37, Z:-1.69 [[ 9.95945386e-01 8.92650702e-02 1.11595164e-02 6.56356929e+01] [-8.92598070e-02 9.96007905e-01 -9.69808519e-04 -3.74764869e-01] [-1.12015366e-02 -3.02199610e-05 9.99937260e-01 -1.68994036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:-0.38, Z:-1.69 [[ 9.96523979e-01 8.25782616e-02 1.09904460e-02 6.56673625e+01] [-8.25727524e-02 9.96584582e-01 -9.54876388e-04 -3.79584252e-01] [-1.10317611e-02 4.40458384e-05 9.99939147e-01 -1.69104137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.70, Y:-0.38, Z:-1.69 [[ 9.96681682e-01 8.07145702e-02 1.05253481e-02 6.57005834e+01] [-8.07093972e-02 9.96737254e-01 -9.16010410e-04 -3.83216469e-01] [-1.05649419e-02 6.34762983e-05 9.99944187e-01 -1.69160049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.73, Y:-0.39, Z:-1.69 [[ 9.96743025e-01 8.00656089e-02 9.63532434e-03 6.57323481e+01] [-8.00612270e-02 9.96789594e-01 -8.40255416e-04 -3.86573267e-01] [-9.67166659e-03 6.61028363e-05 9.99953226e-01 -1.69243151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.39, Z:-1.69 [[ 9.96609602e-01 8.17720914e-02 9.08994117e-03 6.57652052e+01] [-8.17682504e-02 9.96651054e-01 -7.94025676e-04 -3.88797254e-01] [-9.12442858e-03 4.80650279e-05 9.99958370e-01 -1.69349889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.80, Y:-0.39, Z:-1.69 [[ 9.96477371e-01 8.33821850e-02 8.95882202e-03 6.57974942e+01] [-8.33785026e-02 9.96517642e-01 -7.84407892e-04 -3.91261777e-01] [-8.99302983e-03 3.46715492e-05 9.99959561e-01 -1.69413162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.39, Z:-1.69 [[ 9.96345457e-01 8.50184111e-02 8.22197829e-03 6.58300829e+01] [-8.50153571e-02 9.96379380e-01 -7.20870584e-04 -3.93664859e-01] [-8.25349691e-03 1.92417111e-05 9.99965939e-01 -1.69441265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.86, Y:-0.39, Z:-1.69 [[ 9.96069383e-01 8.82778415e-02 7.26687924e-03 6.58634269e+01] [-8.82755365e-02 9.96095890e-01 -6.37956034e-04 -3.93017856e-01] [-7.29482592e-03 -6.03919073e-06 9.99973392e-01 -1.69488829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.90, Y:-0.39, Z:-1.70 [[ 9.95874268e-01 9.04120580e-02 7.75253310e-03 6.58957819e+01] [-9.04094839e-02 9.95904443e-01 -6.82579994e-04 -3.93872196e-01] [-7.78249562e-03 -2.11386640e-05 9.99969716e-01 -1.69549990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.93, Y:-0.40, Z:-1.70 [[ 9.95643758e-01 9.28735936e-02 8.24641795e-03 6.59276183e+01] [-9.28707505e-02 9.95677907e-01 -7.27857207e-04 -3.95412202e-01] [-8.27837488e-03 -4.11645399e-05 9.99965733e-01 -1.69593929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:-0.40, Z:-1.70 [[ 9.95387257e-01 9.55832638e-02 8.24911444e-03 6.59608783e+01] [-9.55805007e-02 9.95421436e-01 -7.29439569e-04 -3.97473459e-01] [-8.28106756e-03 -6.23796366e-05 9.99965709e-01 -1.69605908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.99, Y:-0.40, Z:-1.70 [[ 9.95125738e-01 9.82396083e-02 8.58744158e-03 6.59936123e+01] [-9.82366979e-02 9.95162787e-01 -7.61089411e-04 -3.98644285e-01] [-8.62067141e-03 -8.62222414e-05 9.99962838e-01 -1.69617571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.03, Y:-0.40, Z:-1.70 [[ 9.94681362e-01 1.02356153e-01 1.14980794e-02 6.60273757e+01] [-1.02351169e-01 9.94747803e-01 -1.02263654e-03 -3.96684048e-01] [-1.15423624e-02 -1.59644360e-04 9.99933372e-01 -1.69593887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:-0.40, Z:-1.70 [[ 9.94541296e-01 1.03538832e-01 1.29352221e-02 6.60596155e+01] [-1.03532582e-01 9.94625394e-01 -1.15370515e-03 -3.96613407e-01] [-1.29851536e-02 -1.91809525e-04 9.99915671e-01 -1.69687298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:-0.39, Z:-1.70 [[ 9.94570918e-01 1.03401535e-01 1.16966751e-02 6.60932753e+01] [-1.03396395e-01 9.94639680e-01 -1.04491223e-03 -3.93735399e-01] [-1.17420227e-02 -1.70154723e-04 9.99931046e-01 -1.69778353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:-0.39, Z:-1.70 [[ 9.94735449e-01 1.01861244e-01 1.12103795e-02 6.61263019e+01] [-1.01856404e-01 9.94798606e-01 -1.00338490e-03 -3.94863225e-01] [-1.12542760e-02 -1.43746410e-04 9.99936658e-01 -1.69897991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.16, Y:-0.40, Z:-1.70 [[ 9.94988766e-01 9.93712508e-02 1.10774132e-02 6.61584351e+01] [-9.93663453e-02 9.95050422e-01 -9.93704198e-04 -3.96762504e-01] [-1.11213303e-02 -1.11997553e-04 9.99938150e-01 -1.69978752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.19, Y:-0.40, Z:-1.70 [[ 9.95276329e-01 9.63838454e-02 1.16268692e-02 6.61917384e+01] [-9.63782129e-02 9.95344236e-01 -1.04508658e-03 -3.98274988e-01] [-1.16734667e-02 -8.04269462e-05 9.99931860e-01 -1.70069271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:-0.40, Z:-1.70 [[ 9.95928823e-01 8.94495168e-02 1.11607610e-02 6.62240543e+01] [-8.94438671e-02 9.95991357e-01 -1.00534146e-03 -3.97753406e-01] [-1.12059488e-02 2.98691366e-06 9.99937211e-01 -1.70042947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.40, Z:-1.70 [[ 9.96234404e-01 8.59979863e-02 1.10162778e-02 6.62572959e+01] [-8.59922507e-02 9.96295310e-01 -9.94144077e-04 -3.98972946e-01] [-1.10609602e-02 4.30860139e-05 9.99938825e-01 -1.70177721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-0.40, Z:-1.70 [[ 9.96518132e-01 8.26109504e-02 1.12713269e-02 6.62894573e+01] [-8.26047016e-02 9.96581870e-01 -1.01961790e-03 -4.01768183e-01] [-1.13170317e-02 8.50031271e-05 9.99935957e-01 -1.70291564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.32, Y:-0.41, Z:-1.70 [[ 9.96777767e-01 7.92994134e-02 1.20700970e-02 6.63207813e+01] [-7.92919742e-02 9.96850834e-01 -1.09439031e-03 -4.06195035e-01] [-1.21188708e-02 1.33802110e-04 9.99926555e-01 -1.70376677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:-0.41, Z:-1.70 [[ 9.97203957e-01 7.38375789e-02 1.15013139e-02 6.63534180e+01] [-7.38304422e-02 9.97270262e-01 -1.04445078e-03 -4.13254580e-01] [-1.15470381e-02 1.92383357e-04 9.99933312e-01 -1.70482776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:-0.42, Z:-1.71 [[ 9.97356808e-01 7.18106096e-02 1.10740530e-02 6.63856180e+01] [-7.18038442e-02 9.97418263e-01 -1.00782201e-03 -4.17324735e-01] [-1.11178351e-02 2.09998569e-04 9.99938173e-01 -1.70577563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.42, Z:-1.71 [[ 9.97453718e-01 7.06125800e-02 9.99724664e-03 6.64182740e+01] [-7.06069925e-02 9.97503796e-01 -9.11198868e-04 -4.21118559e-01] [-1.00366336e-02 2.03003181e-04 9.99949611e-01 -1.70686305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.42, Z:-1.71 [[ 9.97415836e-01 7.13160009e-02 8.69927620e-03 6.64516169e+01] [-7.13117874e-02 9.97453758e-01 -7.93974328e-04 -4.24103480e-01] [-8.73374880e-03 1.71561634e-04 9.99961845e-01 -1.70755263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.42, Z:-1.71 [[ 9.97242099e-01 7.37802561e-02 8.04174659e-03 6.64844704e+01] [-7.37767271e-02 9.97274513e-01 -7.35021732e-04 -4.24759686e-01] [-8.07405901e-03 1.39700872e-04 9.99967394e-01 -1.70842955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.52, Y:-0.43, Z:-1.71 [[ 9.97009438e-01 7.69660399e-02 6.95768361e-03 6.65169451e+01] [-7.69634690e-02 9.97033710e-01 -6.36897333e-04 -4.25873072e-01] [-6.98606457e-03 9.95051846e-05 9.99975592e-01 -1.70860473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:-0.43, Z:-1.71 [[ 9.96707143e-01 8.08559596e-02 6.09801790e-03 6.65503766e+01] [-8.08540550e-02 9.96725795e-01 -5.58629094e-04 -4.27619782e-01] [-6.12322023e-03 6.37401337e-05 9.99981251e-01 -1.70950292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:-0.43, Z:-1.71 [[ 9.95969652e-01 8.93904371e-02 7.33500809e-03 6.65812734e+01] [-8.93878915e-02 9.95996661e-01 -6.74810406e-04 -4.30256350e-01] [-7.36596517e-03 1.64297779e-05 9.99972871e-01 -1.70912472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.61, Y:-0.43, Z:-1.71 [[ 9.95596187e-01 9.34190059e-02 7.81809688e-03 6.66123174e+01] [-9.34162125e-02 9.95626883e-01 -7.22511430e-04 -4.32866298e-01] [-7.85140372e-03 -1.10073748e-05 9.99969177e-01 -1.70883094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.64, Y:-0.43, Z:-1.71 [[ 9.95249973e-01 9.69997491e-02 8.27894325e-03 6.66431216e+01] [-9.69967523e-02 9.95284405e-01 -7.63686395e-04 -4.34211614e-01] [-8.31398049e-03 -4.29717443e-05 9.99965437e-01 -1.70963112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:-0.43, Z:-1.71 [[ 9.94877407e-01 1.00681721e-01 9.06293538e-03 6.66747848e+01] [-1.00678250e-01 9.94918683e-01 -8.39592027e-04 -4.32282181e-01] [-9.10141530e-03 -7.71493314e-05 9.99958578e-01 -1.71005302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:-0.43, Z:-1.71 [[ 9.94812906e-01 1.01186351e-01 1.04213115e-02 6.67065094e+01] [-1.01181803e-01 9.94867485e-01 -9.64100159e-04 -4.32765605e-01] [-1.04653777e-02 -9.53478051e-05 9.99945232e-01 -1.71145856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:-0.43, Z:-1.71 [[ 9.94875784e-01 1.00429034e-01 1.16697350e-02 6.67379942e+01] [-1.00423254e-01 9.94944220e-01 -1.08165829e-03 -4.34475845e-01] [-1.17193652e-02 -9.57971174e-05 9.99931321e-01 -1.71308741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.77, Y:-0.44, Z:-1.71 [[ 9.95041758e-01 9.87093188e-02 1.21807692e-02 6.67708750e+01] [-9.87028665e-02 9.95116307e-01 -1.13120793e-03 -4.37577721e-01] [-1.22329428e-02 -7.66777082e-05 9.99925172e-01 -1.71351318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:-0.44, Z:-1.71 [[ 9.95572762e-01 9.32291521e-02 1.19666302e-02 6.68038480e+01] [-9.32225025e-02 9.95644678e-01 -1.11350034e-03 -4.43408692e-01] [-1.20183224e-02 -6.98860470e-06 9.99927777e-01 -1.71455047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.84, Y:-0.45, Z:-1.72 [[ 9.95856638e-01 9.02114450e-02 1.14652250e-02 6.68353634e+01] [-9.02051152e-02 9.95922635e-01 -1.06907643e-03 -4.47922377e-01] [-1.15149200e-02 3.04249136e-05 9.99933701e-01 -1.71574040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:-0.45, Z:-1.72 [[ 9.96108857e-01 8.74781729e-02 1.07104832e-02 6.68684108e+01] [-8.74724735e-02 9.96166435e-01 -1.00032844e-03 -4.52023428e-01] [-1.07569307e-02 5.95635663e-05 9.99942141e-01 -1.71661666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:-0.46, Z:-1.72 [[ 9.96470756e-01 8.34276541e-02 9.26603774e-03 6.69013327e+01] [-8.34232025e-02 9.96513832e-01 -8.66573759e-04 -4.56816102e-01] [-9.30603100e-03 9.05128658e-05 9.99956694e-01 -1.71705480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.93, Y:-0.46, Z:-1.72 [[ 9.96573708e-01 8.22954252e-02 8.26481067e-03 6.69337143e+01] [-8.22918355e-02 9.96607974e-01 -7.74049846e-04 -4.60574403e-01] [-8.30047698e-03 9.12712856e-05 9.99965546e-01 -1.71830472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.97, Y:-0.46, Z:-1.72 [[ 9.96621638e-01 8.18272632e-02 7.04336546e-03 6.69664602e+01] [-8.18246408e-02 9.96646523e-01 -6.60175983e-04 -4.63950230e-01] [-7.07376609e-03 8.16248213e-05 9.99974977e-01 -1.71963085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.00, Y:-0.47, Z:-1.72 [[ 9.96597637e-01 8.21449680e-02 6.73460107e-03 6.69976833e+01] [-8.21425685e-02 9.96620388e-01 -6.32583820e-04 -4.70618933e-01] [-6.76380431e-03 7.72341095e-05 9.99977122e-01 -1.72023685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.03, Y:-0.48, Z:-1.72 [[ 9.96494120e-01 8.33823519e-02 6.84493656e-03 6.70291798e+01] [-8.33798911e-02 9.96517626e-01 -6.44597202e-04 -4.76035913e-01] [-6.87484796e-03 7.16072572e-05 9.99976365e-01 -1.72054923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.06, Y:-0.48, Z:-1.72 [[ 9.96373831e-01 8.47549140e-02 7.46943599e-03 6.70612859e+01] [-8.47520104e-02 9.96401826e-01 -7.04988177e-04 -4.79493577e-01] [-7.50231088e-03 6.93820545e-05 9.99971855e-01 -1.72084720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:-0.48, Z:-1.72 [[ 9.96089739e-01 8.79047141e-02 8.83139155e-03 6.70922310e+01] [-8.79502842e-02 9.96112761e-01 4.91068156e-03 -4.84294617e-01] [-8.36538976e-03 -5.66820291e-03 9.99948945e-01 -1.72297989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.12, Y:-0.48, Z:-1.72 [[ 9.95876011e-01 9.05536391e-02 5.56866734e-03 6.71239065e+01] [-9.05196338e-02 9.95876095e-01 -6.08272735e-03 -4.80542288e-01] [-6.09651578e-03 5.55356852e-03 9.99965995e-01 -1.72405363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.15, Y:-0.49, Z:-1.72 [[ 9.95722159e-01 9.22344920e-02 5.49366668e-03 6.71543801e+01] [-9.22330193e-02 9.95737314e-01 -5.21363087e-04 -4.86148927e-01] [-5.51833657e-03 1.24353135e-05 9.99984774e-01 -1.72494006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.49, Z:-1.73 [[ 9.95424524e-01 9.53477972e-02 6.23008888e-03 6.71852688e+01] [-9.53459628e-02 9.95444020e-01 -5.91472385e-04 -4.89779108e-01] [-6.25810031e-03 -5.24770479e-06 9.99980418e-01 -1.72594501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.49, Z:-1.73 [[ 9.95287830e-01 9.67860274e-02 5.88223900e-03 6.72162264e+01] [-9.67844304e-02 9.95305212e-01 -5.56228877e-04 -4.94086479e-01] [-5.90845832e-03 -1.57013198e-05 9.99982545e-01 -1.72688121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:-0.50, Z:-1.73 [[ 9.95171876e-01 9.80099912e-02 5.19409987e-03 6.72468423e+01] [-9.80087478e-02 9.95185431e-01 -4.93999317e-04 -4.98191414e-01] [-5.21750938e-03 -1.74529972e-05 9.99986389e-01 -1.72736145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:-0.50, Z:-1.73 [[ 9.95040163e-01 9.93176464e-02 5.57493338e-03 6.72779626e+01] [-9.93162335e-02 9.95055780e-01 -5.30391907e-04 -5.01895433e-01] [-5.60004695e-03 -2.59201356e-05 9.99984319e-01 -1.72820856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.31, Y:-0.50, Z:-1.73 [[ 9.94818543e-01 1.01389883e-01 7.49392321e-03 6.73097841e+01] [-1.01387386e-01 9.94846767e-01 -7.13318539e-04 -5.02107431e-01] [-7.52762856e-03 -5.01667762e-05 9.99971666e-01 -1.72848099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.34, Y:-0.50, Z:-1.73 [[ 9.94731449e-01 1.02188098e-01 8.18152113e-03 6.73411297e+01] [-1.02185155e-01 9.94765092e-01 -7.77963058e-04 -5.03090891e-01] [-8.21819018e-03 -6.21656863e-05 9.99966228e-01 -1.72895490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:-0.50, Z:-1.73 [[ 9.94557966e-01 1.03735536e-01 9.66390417e-03 6.73734146e+01] [-1.03731501e-01 9.94604912e-01 -9.19196214e-04 -5.03159718e-01] [-9.70711987e-03 -8.82573653e-05 9.99952881e-01 -1.72921107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.40, Y:-0.51, Z:-1.73 [[ 9.94494006e-01 1.04295468e-01 1.02042819e-02 6.74046099e+01] [-1.04290977e-01 9.94546352e-01 -9.72760995e-04 -5.06331468e-01] [-1.02500859e-02 -9.68095476e-05 9.99947462e-01 -1.73009718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:-0.51, Z:-1.73 [[ 9.94472586e-01 1.04533171e-01 9.85355740e-03 6.74368303e+01] [-1.04528984e-01 9.94521396e-01 -9.40317588e-04 -5.11208418e-01] [-9.89786804e-03 -9.48622844e-05 9.99951010e-01 -1.73132720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.47, Y:-0.52, Z:-1.73 [[ 9.94480861e-01 1.04518914e-01 9.14402720e-03 6.74687622e+01] [-1.04515294e-01 9.94522895e-01 -8.74233218e-04 -5.16931948e-01] [-9.18531831e-03 -8.62824867e-05 9.99957810e-01 -1.73227339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.50, Y:-0.52, Z:-1.73 [[ 9.94503080e-01 1.04346377e-01 8.68661056e-03 6.75013221e+01] [-1.04343092e-01 9.94541013e-01 -8.31680567e-04 -5.22434525e-01] [-8.72597333e-03 -7.92789233e-05 9.99961925e-01 -1.73346401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.53, Z:-1.73 [[ 9.94569997e-01 1.03743538e-01 8.23407910e-03 6.75327216e+01] [-1.03740553e-01 9.94604079e-01 -7.90008179e-04 -5.26977852e-01] [-8.27160690e-03 -6.84894867e-05 9.99965787e-01 -1.73478079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.53, Z:-1.74 [[ 9.94582960e-01 1.03700829e-01 7.13256688e-03 6.75635500e+01] [-1.03698581e-01 9.94608533e-01 -6.85228043e-04 -5.29643079e-01] [-7.16517060e-03 -5.81209288e-05 9.99974328e-01 -1.73597273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.59, Y:-0.53, Z:-1.74 [[ 9.94590805e-01 1.03691205e-01 6.10439525e-03 6.75944908e+01] [-1.03689542e-01 9.94609537e-01 -5.89195848e-04 -5.32378703e-01] [-6.13258417e-03 -4.69531749e-05 9.99981194e-01 -1.73733510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.63, Y:-0.54, Z:-1.74 [[ 9.94650266e-01 1.03144668e-01 5.65916324e-03 6.76253577e+01] [-1.03143229e-01 9.94666364e-01 -5.46315155e-04 -5.39002222e-01] [-5.68532882e-03 -4.03118534e-05 9.99983838e-01 -1.73860685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.66, Y:-0.54, Z:-1.74 [[ 9.94645633e-01 1.03189332e-01 5.65918633e-03 6.76570318e+01] [-1.03187895e-01 9.94661731e-01 -5.46076424e-04 -5.42119883e-01] [-5.68532534e-03 -4.08069955e-05 9.99983838e-01 -1.73934651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.55, Z:-1.74 [[ 9.94687638e-01 1.02810404e-01 5.15010909e-03 6.76882861e+01] [-1.02809206e-01 9.94700970e-01 -4.97481350e-04 -5.49507580e-01] [-5.17396477e-03 -3.46400765e-05 9.99986614e-01 -1.74008982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.72, Y:-0.56, Z:-1.74 [[ 9.94707263e-01 1.02665035e-01 4.16545009e-03 6.77184840e+01] [-1.02664261e-01 9.94715984e-01 -3.99906069e-04 -5.56950469e-01] [-4.18449615e-03 -2.98533814e-05 9.99991245e-01 -1.74071257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.56, Z:-1.74 [[ 9.94668100e-01 1.03076636e-01 3.25248351e-03 6.77494640e+01] [-1.03076167e-01 9.94673417e-01 -3.11994801e-04 -5.64300363e-01] [-3.26731827e-03 -2.49222568e-05 9.99994662e-01 -1.74157564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.78, Y:-0.57, Z:-1.74 [[ 9.94602626e-01 1.03686424e-01 3.83938860e-03 6.77809121e+01] [-1.03685761e-01 9.94610036e-01 -3.71994764e-04 -5.68560482e-01] [-3.85726524e-03 -2.81029592e-05 9.99992560e-01 -1.74186299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.57, Z:-1.74 [[ 9.94504119e-01 1.04565741e-01 5.25015870e-03 6.78115488e+01] [-1.04564523e-01 9.94517976e-01 -5.06691150e-04 -5.73456665e-01] [-5.27435974e-03 -4.50739030e-05 9.99986089e-01 -1.74248465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.84, Y:-0.58, Z:-1.74 [[ 9.94385856e-01 1.05626961e-01 6.30194487e-03 6.78421899e+01] [-1.05625216e-01 9.94405823e-01 -6.09917281e-04 -5.79372564e-01] [-6.33111439e-03 -5.91511727e-05 9.99979957e-01 -1.74323832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.87, Y:-0.59, Z:-1.74 [[ 9.94199615e-01 1.07214760e-01 8.49235458e-03 6.78744309e+01] [-1.07211634e-01 9.94235881e-01 -8.23826651e-04 -5.87814904e-01] [-8.53173001e-03 -9.14310685e-05 9.99963600e-01 -1.74321755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.91, Y:-0.59, Z:-1.74 [[ 9.94119644e-01 1.07872959e-01 9.46354343e-03 6.79070477e+01] [-1.07869085e-01 9.94164681e-01 -9.20363640e-04 -5.93459915e-01] [-9.50760299e-03 -1.05872195e-04 9.99954796e-01 -1.74368902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:-0.60, Z:-1.74 [[ 9.93990231e-01 1.09024635e-01 9.85139230e-03 6.79396183e+01] [-1.09020474e-01 9.94039041e-01 -9.60067619e-04 -6.02196926e-01] [-9.89733957e-03 -1.19705621e-04 9.99951013e-01 -1.74437895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:-0.61, Z:-1.75 [[ 9.93843179e-01 1.10283149e-01 1.06471456e-02 6.79717829e+01] [-1.10278334e-01 9.93900200e-01 -1.04005281e-03 -6.07565985e-01] [-1.06969005e-02 -1.40500088e-04 9.99942777e-01 -1.74548411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.00, Y:-0.61, Z:-1.75 [[ 9.93679557e-01 1.11712143e-01 1.10152590e-02 6.80046608e+01] [-1.11707052e-01 9.93740596e-01 -1.07832410e-03 -6.11683138e-01] [-1.10667720e-02 -1.58973500e-04 9.99938749e-01 -1.74606487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.62, Z:-1.75 [[ 9.93501590e-01 1.13262276e-01 1.12359699e-02 6.80361381e+01] [-1.13257050e-01 9.93565109e-01 -1.10235712e-03 -6.15578375e-01] [-1.12885231e-02 -1.77359261e-04 9.99936267e-01 -1.74728733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.62, Z:-1.75 [[ 9.93140087e-01 1.16457570e-01 1.05072619e-02 6.80681879e+01] [-1.16453163e-01 9.93195648e-01 -1.03236616e-03 -6.22870361e-01] [-1.05559937e-02 -1.98319672e-04 9.99944264e-01 -1.74778254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.63, Z:-1.75 [[ 9.92980933e-01 1.17800213e-01 1.05818777e-02 6.80998469e+01] [-1.17795796e-01 9.93037293e-01 -1.04190541e-03 -6.28254663e-01] [-1.06309359e-02 -2.11908510e-04 9.99943468e-01 -1.74819039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:-0.63, Z:-1.75 [[ 9.92830555e-01 1.19142730e-01 9.61759771e-03 6.81325236e+01] [-1.19139134e-01 9.92877116e-01 -9.48005696e-04 -6.33206017e-01] [-9.66204067e-03 -2.04623245e-04 9.99953300e-01 -1.74971950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.16, Y:-0.64, Z:-1.75 [[ 9.92837101e-01 1.19172841e-01 8.50445508e-03 6.81646296e+01] [-1.19170019e-01 9.92873507e-01 -8.39636577e-04 -6.37195893e-01] [-8.54391002e-03 -1.79853726e-04 9.99963484e-01 -1.75172154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:-0.64, Z:-1.75 [[ 9.92911131e-01 1.18637990e-01 7.24655104e-03 6.81969663e+01] [-1.18635922e-01 9.92937564e-01 -7.16091334e-04 -6.41419774e-01] [-7.28032837e-03 -1.48686208e-04 9.99973487e-01 -1.75283160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.64, Z:-1.75 [[ 9.92922635e-01 1.18546861e-01 7.16120223e-03 6.82297465e+01] [-1.18544830e-01 9.92948448e-01 -7.08951250e-04 -6.44728501e-01] [-7.19474859e-03 -1.44989757e-04 9.99974107e-01 -1.75398630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.65, Z:-1.75 [[ 9.92885086e-01 1.18701804e-01 9.43857943e-03 6.82625092e+01] [-1.18698254e-01 9.92929930e-01 -9.37414470e-04 -6.49494970e-01] [-9.48312081e-03 -1.89598050e-04 9.99955016e-01 -1.75406681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.66, Z:-1.75 [[ 9.92795602e-01 1.19310023e-01 1.10458395e-02 6.82933771e+01] [-1.19336155e-01 9.92852391e-01 1.73529053e-03 -6.56678884e-01] [-1.07598506e-02 -3.04095682e-03 9.99937487e-01 -1.75485728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.66, Z:-1.76 [[ 9.92705218e-01 1.20209489e-01 9.27515848e-03 6.83261554e+01] [-1.20178462e-01 9.92744896e-01 -3.83511095e-03 -6.58679233e-01] [-9.66888297e-03 2.69246038e-03 9.99949630e-01 -1.75531844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:-0.66, Z:-1.76 [[ 9.92526154e-01 1.21708606e-01 8.87968897e-03 6.83574954e+01] [-1.21705548e-01 9.92565854e-01 -8.85946147e-04 -6.64266249e-01] [-8.92150333e-03 -2.01382688e-04 9.99960182e-01 -1.75593620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.67, Z:-1.76 [[ 9.92067098e-01 1.25298791e-01 1.01531297e-02 6.83891332e+01] [-1.25294972e-01 9.92119016e-01 -1.01386842e-03 -6.66860696e-01] [-1.02001496e-02 -2.66310607e-04 9.99947942e-01 -1.75779175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:-0.67, Z:-1.76 [[ 9.91871229e-01 1.26783550e-01 1.08349858e-02 6.84219832e+01] [-1.26779267e-01 9.91930362e-01 -1.08399990e-03 -6.69516034e-01] [-1.08849847e-02 -2.98463245e-04 9.99940712e-01 -1.75854137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.67, Z:-1.76 [[ 9.91740902e-01 1.27797903e-01 1.08480395e-02 6.84548901e+01] [-1.27793648e-01 9.91800182e-01 -1.08730975e-03 -6.72185605e-01] [-1.08980434e-02 -3.07980990e-04 9.99940567e-01 -1.75928861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:-0.67, Z:-1.76 [[ 9.91804743e-01 1.27311494e-01 1.07300664e-02 6.84873497e+01] [-1.27307280e-01 9.91862740e-01 -1.07763329e-03 -6.72966792e-01] [-1.07799482e-02 -2.97213764e-04 9.99941850e-01 -1.76034897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.68, Z:-1.76 [[ 9.92014211e-01 1.25687666e-01 1.05078701e-02 6.85205803e+01] [-1.25683516e-01 9.92069825e-01 -1.05697361e-03 -6.75187382e-01] [-1.05573894e-02 -2.72133218e-04 9.99944232e-01 -1.76133981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:-0.68, Z:-1.76 [[ 9.92308132e-01 1.23372943e-01 1.01827483e-02 6.85538685e+01] [-1.23368907e-01 9.92360348e-01 -1.02592884e-03 -6.78263957e-01] [-1.02315275e-02 -2.38197000e-04 9.99947628e-01 -1.76249881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.59, Y:-0.68, Z:-1.76 [[ 9.92928922e-01 1.18280484e-01 1.00936709e-02 6.85864452e+01] [-1.18276236e-01 9.92980208e-01 -1.01885639e-03 -6.82817109e-01] [-1.01433262e-02 -1.82189420e-04 9.99948539e-01 -1.76308680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.62, Y:-0.69, Z:-1.76 [[ 9.93169013e-01 1.16172542e-01 1.09202195e-02 6.86183226e+01] [-1.16167413e-01 9.93229033e-01 -1.10494876e-03 -6.85673959e-01] [-1.09746437e-02 -1.71172776e-04 9.99939762e-01 -1.76351450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:-0.69, Z:-1.76 [[ 9.93398994e-01 1.14091467e-01 1.18985451e-02 6.86506835e+01] [-1.14085190e-01 9.93470237e-01 -1.20722875e-03 -6.87781046e-01] [-1.19585849e-02 -1.58187957e-04 9.99928481e-01 -1.76342850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-0.69, Z:-1.76 [[ 9.93577733e-01 1.12489264e-01 1.22251627e-02 6.86824266e+01] [-1.12482505e-01 9.93652930e-01 -1.24125948e-03 -6.89942381e-01] [-1.22871971e-02 -1.41829141e-04 9.99924499e-01 -1.76373562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:-0.69, Z:-1.76 [[ 9.93759992e-01 1.10881024e-01 1.21027568e-02 6.87153404e+01] [-1.10874257e-01 9.93833680e-01 -1.23069255e-03 -6.90468209e-01] [-1.21645877e-02 -1.18871147e-04 9.99926002e-01 -1.76365889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.69, Z:-1.76 [[ 9.93736586e-01 1.11104764e-01 1.19720261e-02 6.87483966e+01] [-1.11098132e-01 9.93808693e-01 -1.21964587e-03 -6.92296561e-01] [-1.20334121e-02 -1.18063015e-04 9.99927589e-01 -1.76419526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.69, Z:-1.77 [[ 9.93694692e-01 1.11518933e-01 1.15925477e-02 6.87806691e+01] [-1.11512717e-01 9.93762303e-01 -1.18319654e-03 -6.94120875e-01] [-1.16521857e-02 -1.16980370e-04 9.99932104e-01 -1.76536360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:-0.69, Z:-1.77 [[ 9.93695649e-01 1.11615067e-01 1.05372276e-02 6.88142501e+01] [-1.11609923e-01 9.93751511e-01 -1.07680971e-03 -6.94745869e-01] [-1.05915740e-02 -1.06038035e-04 9.99943902e-01 -1.76633911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:-0.70, Z:-1.77 [[ 9.93747380e-01 1.11153716e-01 1.05355139e-02 6.88457997e+01] [-1.11148524e-01 9.93803221e-01 -1.07880624e-03 -6.96932752e-01] [-1.05901410e-02 -9.89459533e-05 9.99943918e-01 -1.76688554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.88, Y:-0.70, Z:-1.77 [[ 9.93973603e-01 1.09009062e-01 1.15542183e-02 6.88787733e+01] [-1.09002647e-01 9.94040753e-01 -1.18536348e-03 -6.96406002e-01] [-1.16145793e-02 -8.12203769e-05 9.99932545e-01 -1.76746833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.70, Z:-1.77 [[ 9.94087902e-01 1.07863193e-01 1.24408588e-02 6.89121200e+01] [-1.07855631e-01 9.94165744e-01 -1.27911305e-03 -6.97115506e-01] [-1.25062448e-02 -7.02658602e-05 9.99921791e-01 -1.76775086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.70, Z:-1.77 [[ 9.94198064e-01 1.06798587e-01 1.28168446e-02 6.89456176e+01] [-1.06790438e-01 9.94280674e-01 -1.32042284e-03 -6.98351785e-01] [-1.28845602e-02 -5.59546290e-05 9.99916989e-01 -1.76858968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:-0.70, Z:-1.77 [[ 9.94264965e-01 1.06236157e-01 1.22905884e-02 6.89777721e+01] [-1.06228592e-01 9.94340926e-01 -1.26858793e-03 -6.99803951e-01] [-1.23558049e-02 -4.42993661e-05 9.99923663e-01 -1.76937807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.70, Z:-1.77 [[ 9.94152081e-01 1.07396635e-01 1.12961547e-02 6.90106439e+01] [-1.07390301e-01 9.94216254e-01 -1.16755402e-03 -6.99261744e-01] [-1.13562120e-02 -5.23712023e-05 9.99935515e-01 -1.77027267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.70, Z:-1.77 [[ 9.93987294e-01 1.08896714e-01 1.14352151e-02 6.90434795e+01] [-1.08890296e-01 9.94053068e-01 -1.18422857e-03 -7.01235800e-01] [-1.14961693e-02 -6.80758057e-05 9.99933915e-01 -1.77141687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.70, Z:-1.77 [[ 9.93620719e-01 1.12182128e-01 1.15341561e-02 6.90761030e+01] [-1.12175791e-01 9.93687657e-01 -1.19691406e-03 -7.01573289e-01] [-1.15956209e-02 -1.04574479e-04 9.99932763e-01 -1.77126961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.11, Y:-0.70, Z:-1.77 [[ 9.93449719e-01 1.13641844e-01 1.19660610e-02 6.91078378e+01] [-1.13635101e-01 9.93521774e-01 -1.24415830e-03 -7.01365557e-01] [-1.20299306e-02 -1.23755836e-04 9.99927630e-01 -1.77115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.70, Z:-1.77 [[ 9.93366983e-01 1.14297432e-01 1.25751629e-02 6.91408533e+01] [-1.14290009e-01 9.93446565e-01 -1.30977243e-03 -7.00658665e-01] [-1.26424560e-02 -1.36130786e-04 9.99920072e-01 -1.77261779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.70, Z:-1.77 [[ 9.93383360e-01 1.14094921e-01 1.31091244e-02 6.91726189e+01] [-1.14086799e-01 9.93469844e-01 -1.36818936e-03 -7.00762431e-01] [-1.31796232e-02 -1.36441491e-04 9.99913136e-01 -1.77202275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.21, Y:-0.70, Z:-1.77 [[ 9.93414809e-01 1.13710426e-01 1.40341356e-02 6.92054980e+01] [-1.13701041e-01 9.93513925e-01 -1.46739702e-03 -7.01208672e-01] [-1.41099675e-02 -1.37961897e-04 9.99900440e-01 -1.77273607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.24, Y:-0.70, Z:-1.77 [[ 9.93614428e-01 1.12012367e-01 1.35498341e-02 6.92377050e+01] [-1.12003427e-01 9.93706807e-01 -1.41925949e-03 -6.98103963e-01] [-1.36235370e-02 -1.07431142e-04 9.99907190e-01 -1.77318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.70, Z:-1.77 [[ 9.93707443e-01 1.11203042e-01 1.33940614e-02 6.92710697e+01] [-1.11194203e-01 9.93797703e-01 -1.40512418e-03 -6.98625802e-01] [-1.34672416e-02 -9.30596224e-05 9.99909308e-01 -1.77400441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.30, Y:-0.70, Z:-1.77 [[ 9.93823147e-01 1.10110563e-01 1.38281000e-02 6.93046528e+01] [-1.10100998e-01 9.93919342e-01 -1.45338575e-03 -6.99002519e-01] [-1.39040491e-02 -7.80792097e-05 9.99903331e-01 -1.77455631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:-0.70, Z:-1.78 [[ 9.94136025e-01 1.07169125e-01 1.44340908e-02 6.93375882e+01] [-1.07158349e-01 9.94240805e-01 -1.52014356e-03 -6.96103510e-01] [-1.45138745e-02 -3.55038647e-05 9.99894668e-01 -1.77573080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.70, Z:-1.78 [[ 9.94310973e-01 1.05570502e-01 1.41618516e-02 6.93705649e+01] [-1.05559933e-01 9.94411821e-01 -1.49383536e-03 -6.95832138e-01] [-1.42404175e-02 -9.58720519e-06 9.99898600e-01 -1.77631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.40, Y:-0.70, Z:-1.78 [[ 9.94478930e-01 1.03926127e-01 1.45264372e-02 6.94038873e+01] [-1.03914791e-01 9.94585019e-01 -1.53506757e-03 -6.95458296e-01] [-1.46073105e-02 1.70806702e-05 9.99893307e-01 -1.77682752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.44, Y:-0.70, Z:-1.78 [[ 9.94867494e-01 9.98135821e-02 1.66107723e-02 6.94357355e+01] [-9.97981186e-02 9.95006151e-01 -1.75933741e-03 -6.95572850e-01] [-1.67034263e-02 9.25837758e-05 9.99860484e-01 -1.77795619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:-0.70, Z:-1.78 [[ 9.95100307e-01 9.76313692e-02 1.56043342e-02 6.94678115e+01] [-9.76174133e-02 9.95222639e-01 -1.65537314e-03 -6.98874730e-01] [-1.56914030e-02 1.24007573e-04 9.99876875e-01 -1.77848307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.50, Y:-0.70, Z:-1.78 [[ 9.95642252e-01 9.22741832e-02 1.34900328e-02 6.95007182e+01] [-9.22632375e-02 9.95733620e-01 -1.43283099e-03 -6.98979710e-01] [-1.35646925e-02 1.81952972e-04 9.99907979e-01 -1.78032291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:-0.70, Z:-1.78 [[ 9.95859237e-01 8.98703082e-02 1.37006494e-02 6.95326319e+01] [-8.98587510e-02 9.95953452e-01 -1.45807036e-03 -7.00802018e-01] [-1.37762463e-02 2.20909588e-04 9.99905079e-01 -1.78177201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.57, Y:-0.70, Z:-1.78 [[ 9.96035701e-01 8.79348651e-02 1.34291629e-02 6.95655943e+01] [-8.79235541e-02 9.96126197e-01 -1.43150305e-03 -7.03454964e-01] [-1.35030200e-02 2.45088406e-04 9.99908800e-01 -1.78261889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.60, Y:-0.71, Z:-1.78 [[ 9.96149986e-01 8.67367529e-02 1.27256368e-02 6.95979752e+01] [-8.67264718e-02 9.96231235e-01 -1.35858539e-03 -7.06642643e-01] [-1.27955161e-02 2.49705235e-04 9.99918103e-01 -1.78319045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:-0.71, Z:-1.78 [[ 9.96235712e-01 8.58394571e-02 1.20827755e-02 6.96301083e+01] [-8.58300948e-02 9.96308951e-01 -1.29223410e-03 -7.08492886e-01] [-1.21491021e-02 2.50303989e-04 9.99926166e-01 -1.78392220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.66, Y:-0.71, Z:-1.78 [[ 9.96222300e-01 8.59615395e-02 1.23183911e-02 6.96615188e+01] [-8.59517775e-02 9.96298423e-01 -1.32069086e-03 -7.11073418e-01] [-1.23863223e-02 2.56914068e-04 9.99923254e-01 -1.78435619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.69, Y:-0.71, Z:-1.79 [[ 9.96219316e-01 8.59961427e-02 1.23181976e-02 6.96931597e+01] [-8.59863611e-02 9.96295436e-01 -1.32249347e-03 -7.14520621e-01] [-1.23862934e-02 2.58296561e-04 9.99923254e-01 -1.78509363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.73, Y:-0.72, Z:-1.79 [[ 9.96168160e-01 8.65954141e-02 1.22568716e-02 6.97255092e+01] [-8.65857871e-02 9.96243531e-01 -1.31492701e-03 -7.17609108e-01] [-1.23246957e-02 2.48617547e-04 9.99924017e-01 -1.78549124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.76, Y:-0.72, Z:-1.79 [[ 9.96028867e-01 8.82495535e-02 1.17691200e-02 6.97569797e+01] [-8.82407699e-02 9.96098372e-01 -1.26453911e-03 -7.20465979e-01] [-1.18347962e-02 2.21001250e-04 9.99929942e-01 -1.78595159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:-0.72, Z:-1.79 [[ 9.95912668e-01 8.95321980e-02 1.19140329e-02 6.97886489e+01] [-8.95232487e-02 9.95983906e-01 -1.28342736e-03 -7.23651158e-01] [-1.19810931e-02 2.11598634e-04 9.99928202e-01 -1.78622242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.82, Y:-0.73, Z:-1.79 [[ 9.95759953e-01 9.11229013e-02 1.25989359e-02 6.98185815e+01] [-9.11130150e-02 9.95839633e-01 -1.35765954e-03 -7.26335985e-01] [-1.26702336e-02 2.03975957e-04 9.99919709e-01 -1.78744038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.73, Z:-1.79 [[ 9.95368438e-01 9.54577690e-02 1.13792611e-02 6.98494000e+01] [-9.54499911e-02 9.95433472e-01 -1.22590825e-03 -7.28922826e-01] [-1.14443198e-02 1.34080016e-04 9.99934503e-01 -1.78888773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:-0.73, Z:-1.79 [[ 9.95117012e-01 9.80984337e-02 1.09009254e-02 6.98794155e+01] [-9.80914502e-02 9.95176712e-01 -1.17474441e-03 -7.32045539e-01] [-1.09635876e-02 9.97205731e-05 9.99939893e-01 -1.79032327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.91, Y:-0.73, Z:-1.79 [[ 9.94515585e-01 1.03938767e-01 1.16397919e-02 6.99098473e+01] [-1.03931188e-01 9.94583697e-01 -1.25578420e-03 -7.34942974e-01] [-1.17072720e-02 3.91595474e-05 9.99931467e-01 -1.79141625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:-0.74, Z:-1.79 [[ 9.94195360e-01 1.06811663e-01 1.29172691e-02 6.99392660e+01] [-1.06802569e-01 9.94279271e-01 -1.39373224e-03 -7.37429781e-01] [-1.29922397e-02 6.04460142e-06 9.99915597e-01 -1.79244352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.97, Y:-0.74, Z:-1.79 [[ 9.93927735e-01 1.09151143e-01 1.39170778e-02 6.99695060e+01] [-1.09140821e-01 9.94025164e-01 -1.50130255e-03 -7.39460064e-01] [-1.39977944e-02 -2.67350519e-05 9.99902026e-01 -1.79280325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.00, Y:-0.74, Z:-1.79 [[ 9.93672643e-01 1.11309771e-01 1.49937730e-02 6.99995892e+01] [-1.11298037e-01 9.93785757e-01 -1.61735198e-03 -7.41516647e-01] [-1.50806251e-02 -6.16590844e-05 9.99886279e-01 -1.79358351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:-0.75, Z:-1.79 [[ 9.93741150e-01 1.10696600e-01 1.49929633e-02 7.00291502e+01] [-1.10684795e-01 9.93854245e-01 -1.61745280e-03 -7.45906164e-01] [-1.50798667e-02 -5.21636643e-05 9.99886291e-01 -1.79447535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.75, Z:-1.80 [[ 9.93904039e-01 1.09217903e-01 1.50402974e-02 7.00598397e+01] [-1.09205852e-01 9.94017831e-01 -1.62264454e-03 -7.50693161e-01] [-1.51275456e-02 -2.97355291e-05 9.99885572e-01 -1.79555159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:-0.76, Z:-1.80 [[ 9.94101881e-01 1.07505114e-01 1.42863984e-02 7.00912934e+01] [-1.07494060e-01 9.94204531e-01 -1.54160907e-03 -7.55578543e-01] [-1.43693329e-02 -3.18649364e-06 9.99896756e-01 -1.79640562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.76, Z:-1.80 [[ 9.94370313e-01 1.05159140e-01 1.30090369e-02 7.01212491e+01] [-1.05149788e-01 9.94455406e-01 -1.40269189e-03 -7.64429422e-01] [-1.30844130e-02 2.68977040e-05 9.99914395e-01 -1.79913941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.77, Z:-1.80 [[ 9.94429735e-01 1.04644627e-01 1.26096650e-02 7.01517476e+01] [-1.04635757e-01 9.94509679e-01 -1.36293789e-03 -7.71442689e-01] [-1.26830580e-02 3.59241228e-05 9.99919566e-01 -1.80012323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.78, Z:-1.80 [[ 9.94376924e-01 1.05136359e-01 1.26838372e-02 7.01821591e+01] [-1.05127438e-01 9.94457815e-01 -1.36989103e-03 -7.78725877e-01] [-1.27575664e-02 2.87687163e-05 9.99918619e-01 -1.80116528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.78, Z:-1.80 [[ 9.94246938e-01 1.06381835e-01 1.24872399e-02 7.02133781e+01] [-1.06373245e-01 9.94325352e-01 -1.35197538e-03 -7.84930335e-01] [-1.25602048e-02 1.58891547e-05 9.99921117e-01 -1.80213159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.79, Z:-1.80 [[ 9.93910317e-01 1.09472976e-01 1.25677644e-02 7.02440188e+01] [-1.09464518e-01 9.93989772e-01 -1.36099059e-03 -7.92681561e-01] [-1.26412210e-02 -2.30216861e-05 9.99920096e-01 -1.80241385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.80, Z:-1.80 [[ 9.93766660e-01 1.10751008e-01 1.27294962e-02 7.02748534e+01] [-1.10742449e-01 9.93848184e-01 -1.37746873e-03 -7.98484221e-01] [-1.28037428e-02 -4.08130881e-05 9.99918028e-01 -1.80318897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:-0.80, Z:-1.80 [[ 9.93693331e-01 1.11378364e-01 1.29778096e-02 7.03058730e+01] [-1.11369487e-01 9.93778073e-01 -1.40704123e-03 -8.03937217e-01] [-1.30537765e-02 -4.71645010e-05 9.99914795e-01 -1.80449048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.34, Y:-0.81, Z:-1.81 [[ 9.93667410e-01 1.11589956e-01 1.31438264e-02 7.03372506e+01] [-1.11580862e-01 9.93754335e-01 -1.42551483e-03 -8.09996447e-01] [-1.32208076e-02 -5.01118425e-05 9.99912600e-01 -1.80576998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:-0.82, Z:-1.81 [[ 9.93849301e-01 1.10046412e-01 1.23836316e-02 7.03693359e+01] [-1.10038200e-01 9.93926449e-01 -1.34467162e-03 -8.21643573e-01] [-1.24563953e-02 -2.62715850e-05 9.99922416e-01 -1.80716538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:-0.83, Z:-1.81 [[ 9.93929137e-01 1.09347019e-01 1.21696234e-02 7.04006173e+01] [-1.09339005e-01 9.94003636e-01 -1.32389547e-03 -8.29955782e-01] [-1.22414139e-02 -1.47562346e-05 9.99925071e-01 -1.80807591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.84, Z:-1.81 [[ 9.93996435e-01 1.08835905e-01 1.12175166e-02 7.04329838e+01] [-1.08829045e-01 9.94059729e-01 -1.22197323e-03 -8.41367696e-01] [-1.12838761e-02 -6.15459285e-06 9.99936335e-01 -1.80909936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.85, Z:-1.81 [[ 9.93924931e-01 1.09485212e-01 1.12347337e-02 7.04655182e+01] [-1.09478349e-01 9.93988425e-01 -1.22592978e-03 -8.48286258e-01] [-1.13014164e-02 -1.14779231e-05 9.99936137e-01 -1.81018544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.85, Z:-1.81 [[ 9.93775043e-01 1.10842702e-01 1.11829744e-02 7.04973194e+01] [-1.10835962e-01 9.93837962e-01 -1.22261266e-03 -8.54406054e-01] [-1.12495821e-02 -2.44737756e-05 9.99936721e-01 -1.81111183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.86, Z:-1.81 [[ 9.93587333e-01 1.12486896e-01 1.14416266e-02 7.05287108e+01] [-1.12479923e-01 9.93653207e-01 -1.25312458e-03 -8.59680307e-01] [-1.15099691e-02 -4.18645720e-05 9.99933757e-01 -1.81214180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.87, Z:-1.81 [[ 9.93080041e-01 1.16788394e-01 1.23492533e-02 7.05615671e+01] [-1.16780573e-01 9.93156816e-01 -1.35501764e-03 -8.66788974e-01] [-1.24229954e-02 -9.65119027e-05 9.99922827e-01 -1.81343877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.87, Z:-1.81 [[ 9.92772062e-01 1.19380943e-01 1.23216417e-02 7.05941189e+01] [-1.19373328e-01 9.92848515e-01 -1.35428537e-03 -8.72252169e-01] [-1.23951996e-02 -1.26378696e-04 9.99923169e-01 -1.81448151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:-0.88, Z:-1.82 [[ 9.92439666e-01 1.22159756e-01 1.18534177e-02 7.06260297e+01] [-1.22152880e-01 9.92510439e-01 -1.30506862e-03 -8.76449652e-01] [-1.19240677e-02 -1.52727250e-04 9.99928894e-01 -1.81535601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.66, Y:-0.88, Z:-1.82 [[ 9.91769102e-01 1.27567395e-01 1.09821514e-02 7.06576689e+01] [-1.27561805e-01 9.91829884e-01 -1.21082369e-03 -8.79653298e-01] [-1.10468876e-02 -2.00045544e-04 9.99938961e-01 -1.81698660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.69, Y:-0.88, Z:-1.82 [[ 9.91444801e-01 1.30136785e-01 1.00808610e-02 7.06891512e+01] [-1.30132192e-01 9.91496028e-01 -1.11304222e-03 -8.83419667e-01] [-1.01399814e-02 -2.08324622e-04 9.99948567e-01 -1.81785206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:-0.89, Z:-1.82 [[ 9.91179009e-01 1.32176674e-01 9.66945485e-03 7.07214290e+01] [-1.32172531e-01 9.91226149e-01 -1.06904779e-03 -8.87420503e-01] [-9.72591968e-03 -2.18418594e-04 9.99952678e-01 -1.81899380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.75, Y:-0.89, Z:-1.82 [[ 9.90980804e-01 1.33635931e-01 9.92395508e-03 7.07528995e+01] [-1.33631623e-01 9.91030465e-01 -1.09890016e-03 -8.91352698e-01] [-9.98179436e-03 -2.37165264e-04 9.99950153e-01 -1.81985940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.78, Y:-0.89, Z:-1.82 [[ 9.91052018e-01 1.33110407e-01 9.87506247e-03 7.07847170e+01] [-1.33106100e-01 9.91101189e-01 -1.09509227e-03 -8.94040153e-01] [-9.93295434e-03 -2.29137647e-04 9.99950641e-01 -1.82049203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.90, Z:-1.82 [[ 9.91173549e-01 1.32174373e-01 1.02436147e-02 7.08163283e+01] [-1.32169668e-01 9.91226454e-01 -1.13797399e-03 -8.95470092e-01] [-1.03041529e-02 -2.25965431e-04 9.99946885e-01 -1.82083711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.89, Z:-1.82 [[ 9.91487474e-01 1.29723666e-01 1.11516234e-02 7.08489875e+01] [-1.29717913e-01 9.91550162e-01 -1.24077009e-03 -8.93796159e-01] [-1.12183512e-02 -2.16357303e-04 9.99937049e-01 -1.82240606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:-0.90, Z:-1.82 [[ 9.91596445e-01 1.28896634e-01 1.10520582e-02 7.08811948e+01] [-1.28890912e-01 9.91658014e-01 -1.23143802e-03 -8.95983497e-01] [-1.11185903e-02 -2.03420294e-04 9.99938166e-01 -1.82346543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.90, Z:-1.82 [[ 9.91669378e-01 1.28373120e-01 1.05918057e-02 7.09136442e+01] [-1.28367818e-01 9.91725923e-01 -1.18176930e-03 -8.98970961e-01] [-1.06558757e-02 -1.87722555e-04 9.99943207e-01 -1.82431045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-0.90, Z:-1.83 [[ 9.91742035e-01 1.27941367e-01 8.87370046e-03 7.09456843e+01] [-1.27937620e-01 9.91781722e-01 -9.90889793e-04 -9.01711703e-01] [-8.92754972e-03 -1.52573062e-04 9.99960137e-01 -1.82580600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.90, Z:-1.83 [[ 9.91747676e-01 1.27899282e-01 8.84985886e-03 7.09767896e+01] [-1.27895522e-01 9.91787150e-01 -9.91781043e-04 -9.04646471e-01] [-8.90402438e-03 -1.48260776e-04 9.99960347e-01 -1.82712524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.91, Z:-1.83 [[ 9.91839789e-01 1.27155448e-01 9.23712213e-03 7.10066998e+01] [-1.27151317e-01 9.91882791e-01 -1.03560664e-03 -9.07188872e-01] [-9.29382550e-03 -1.47356367e-04 9.99956801e-01 -1.82793500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.91, Z:-1.83 [[ 9.92157224e-01 1.24645282e-01 9.35933334e-03 7.10382614e+01] [-1.24640929e-01 9.92201360e-01 -1.04925739e-03 -9.07013691e-01] [-9.41712825e-03 -1.25527703e-04 9.99955650e-01 -1.82818380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.91, Z:-1.83 [[ 9.92362963e-01 1.23037838e-01 8.80000163e-03 7.10685801e+01] [-1.23033923e-01 9.92401975e-01 -9.86911443e-04 -9.07688730e-01] [-8.85456645e-03 -1.03324359e-04 9.99960792e-01 -1.82954437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.91, Z:-1.83 [[ 9.92589794e-01 1.21192317e-01 8.82741393e-03 7.10994123e+01] [-1.21188302e-01 9.92629042e-01 -9.90271102e-04 -9.09855309e-01] [-8.88236068e-03 -8.68463170e-05 9.99960547e-01 -1.83198628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.91, Z:-1.83 [[ 9.92815383e-01 1.19329747e-01 8.83330227e-03 7.11304649e+01] [-1.19325656e-01 9.92854675e-01 -9.90596691e-04 -9.13630461e-01] [-8.88839311e-03 -7.05599557e-05 9.99960495e-01 -1.83314099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.92, Z:-1.83 [[ 9.93196752e-01 1.16133943e-01 8.55101788e-03 7.11616072e+01] [-1.16130006e-01 9.93233560e-01 -9.57255384e-04 -9.18237067e-01] [-8.60432778e-03 -4.22868172e-05 9.99962981e-01 -1.83409376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.92, Z:-1.83 [[ 9.93322291e-01 1.15038128e-01 8.77816226e-03 7.11929451e+01] [-1.15033907e-01 9.93361076e-01 -9.85954841e-04 -9.20655194e-01] [-8.83330711e-03 -3.04153805e-05 9.99960985e-01 -1.83420814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.22, Y:-0.92, Z:-1.84 [[ 9.93419280e-01 1.14210942e-01 8.60197795e-03 7.12244908e+01] [-1.14206856e-01 9.93456522e-01 -9.66360077e-04 -9.23616163e-01] [-8.65605999e-03 -2.24041223e-05 9.99962535e-01 -1.83546091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.25, Y:-0.93, Z:-1.84 [[ 9.93494981e-01 1.13674479e-01 6.77021370e-03 7.12545635e+01] [-1.13671934e-01 9.93518048e-01 -7.60816713e-04 -9.27845147e-01] [-6.81281494e-03 -1.37156984e-05 9.99976792e-01 -1.83740967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:-0.93, Z:-1.84 [[ 9.93455142e-01 1.14162147e-01 3.72626218e-03 7.12856567e+01] [-1.14161381e-01 9.93462130e-01 -4.18417714e-04 -9.33404465e-01] [-3.74966783e-03 -9.71600670e-06 9.99992970e-01 -1.83821269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:-0.93, Z:-1.84 [[ 9.93339149e-01 1.15141373e-01 4.44967893e-03 7.13141579e+01] [-1.15140284e-01 9.93349115e-01 -5.01021308e-04 -9.34979841e-01] [-4.47777291e-03 -1.46532173e-05 9.99989975e-01 -1.83949155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.34, Y:-0.94, Z:-1.84 [[ 9.93027130e-01 1.17751332e-01 5.63404826e-03 7.13441002e+01] [-1.17749632e-01 9.93043112e-01 -6.33712447e-04 -9.38118159e-01] [-5.66947330e-03 -3.41134558e-05 9.99983928e-01 -1.83997145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.37, Y:-0.94, Z:-1.84 [[ 9.92872084e-01 1.19047958e-01 5.71044968e-03 7.13720342e+01] [-1.19046232e-01 9.92888504e-01 -6.42364871e-04 -9.42647137e-01] [-5.74631207e-03 -4.20213721e-05 9.99983489e-01 -1.84063737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.95, Z:-1.84 [[ 9.92763089e-01 1.19961446e-01 5.54085996e-03 7.14024962e+01] [-1.19959840e-01 9.92778550e-01 -6.22491945e-04 -9.46588537e-01] [-5.57552195e-03 -4.66936470e-05 9.99984456e-01 -1.84092204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.95, Z:-1.84 [[ 9.92729503e-01 1.20118109e-01 7.73131451e-03 7.14323475e+01] [-1.20114986e-01 9.92759606e-01 -8.68580155e-04 -9.50066519e-01] [-7.77966895e-03 -6.63815911e-05 9.99969736e-01 -1.84158603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.95, Z:-1.84 [[ 9.92816682e-01 1.19252110e-01 9.69381428e-03 7.14624006e+01] [-1.19247160e-01 9.92864003e-01 -1.08905862e-03 -9.54604290e-01] [-9.75451179e-03 -7.47242595e-05 9.99952421e-01 -1.84155621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.96, Z:-1.84 [[ 9.93131714e-01 1.16468044e-01 1.11621770e-02 7.14944128e+01] [-1.16461328e-01 9.93194438e-01 -1.25205776e-03 -9.60879872e-01] [-1.12320368e-02 -5.65036880e-05 9.99936917e-01 -1.84186470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:-0.97, Z:-1.84 [[ 9.93397291e-01 1.14265901e-01 1.02531020e-02 7.15273988e+01] [-1.14260106e-01 9.93450202e-01 -1.15114759e-03 -9.65778333e-01] [-1.03174832e-02 -2.79736233e-05 9.99946773e-01 -1.84333260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.56, Y:-0.97, Z:-1.85 [[ 9.93693671e-01 1.11781104e-01 8.82460906e-03 7.15594167e+01] [-1.11776705e-01 9.93732854e-01 -9.91742437e-04 -9.72152514e-01] [-8.88016201e-03 -8.97539550e-07 9.99960571e-01 -1.84548562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:-0.98, Z:-1.85 [[ 9.93973467e-01 1.09369903e-01 7.41426715e-03 7.15907465e+01] [-1.09366723e-01 9.94001119e-01 -8.34196802e-04 -9.80743042e-01] [-7.46102587e-03 1.82953831e-05 9.99972166e-01 -1.84751839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:-0.99, Z:-1.85 [[ 9.94233881e-01 1.07061407e-01 6.06994917e-03 7.16217716e+01] [-1.07059224e-01 9.94252410e-01 -6.84431203e-04 -9.90692422e-01] [-6.10833776e-03 3.06406443e-05 9.99981343e-01 -1.84863920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.99, Z:-1.85 [[ 9.94230196e-01 1.07095640e-01 6.06971186e-03 7.16533899e+01] [-1.07093444e-01 9.94248723e-01 -6.86527569e-04 -9.94323808e-01] [-6.10832738e-03 3.25400891e-05 9.99981343e-01 -1.84937674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.69, Y:-1.01, Z:-1.85 [[ 9.94524024e-01 1.04460441e-01 3.15956737e-03 7.16854033e+01] [-1.04459844e-01 9.94529042e-01 -3.53812980e-04 -1.00661421e+00] [-3.17924097e-03 2.18275924e-05 9.99994946e-01 -1.85029122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.72, Y:-1.01, Z:-1.85 [[ 9.94476103e-01 1.04949915e-01 1.67200768e-03 7.17162107e+01] [-1.04949748e-01 9.94477509e-01 -1.87595680e-04 -1.01175488e+00] [-1.68246218e-03 1.10826359e-05 9.99998585e-01 -1.85110687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:-1.02, Z:-1.85 [[ 9.94296664e-01 1.06643068e-01 1.18329975e-03 7.17463074e+01] [-1.06642984e-01 9.94297368e-01 -1.34077692e-04 -1.01641051e+00] [-1.19085028e-03 7.12238525e-06 9.99999291e-01 -1.85255743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.78, Y:-1.03, Z:-1.85 [[ 9.93696522e-01 1.12099304e-01 9.83893479e-04 7.17762336e+01] [-1.12099248e-01 9.93697009e-01 -1.11751413e-04 -1.02643769e+00] [-9.90219263e-04 7.53271216e-07 9.99999510e-01 -1.85314658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.81, Y:-1.03, Z:-1.85 [[ 9.93375277e-01 1.14905280e-01 1.52859435e-03 7.18073656e+01] [-1.14905150e-01 9.93376453e-01 -1.73023456e-04 -1.03416804e+00] [-1.53835094e-03 -3.76613940e-06 9.99998817e-01 -1.85320248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.04, Z:-1.85 [[ 9.93061905e-01 1.17580682e-01 1.68432131e-03 7.18375848e+01] [-1.17580531e-01 9.93063333e-01 -1.89199507e-04 -1.04106735e+00] [-1.69488394e-03 -1.01565707e-05 9.99998564e-01 -1.85376566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.87, Y:-1.05, Z:-1.86 [[ 9.92579957e-01 1.21592203e-01 6.04467164e-04 7.18668905e+01] [-1.21592184e-01 9.92580141e-01 -6.84396130e-05 -1.04787621e+00] [-6.08303826e-04 -5.56669454e-06 9.99999815e-01 -1.85554498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:-1.05, Z:-1.86 [[ 9.92383890e-01 1.23183460e-01 2.25401824e-04 7.18973932e+01] [-1.23183458e-01 9.92383915e-01 -2.50713186e-05 -1.05330976e+00] [-2.26773516e-04 -2.88540341e-06 9.99999974e-01 -1.85694204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.93, Y:-1.06, Z:-1.86 [[ 9.92164829e-01 1.24935754e-01 -9.60841878e-05 7.19269196e+01] [-1.24935753e-01 9.92164834e-01 1.22986550e-05 -1.05899336e+00] [ 9.68678939e-05 -1.97942581e-07 9.99999995e-01 -1.85778013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.96, Y:-1.06, Z:-1.86 [[ 9.91919680e-01 1.26866914e-01 -3.66333073e-04 7.19575999e+01] [-1.26866907e-01 9.91919748e-01 4.22538423e-05 -1.06447959e+00] [ 3.68733624e-04 4.56312601e-06 9.99999932e-01 -1.85904047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:-1.07, Z:-1.86 [[ 9.91429396e-01 1.30640909e-01 -8.40330447e-04 7.19878178e+01] [-1.30640875e-01 9.91429752e-01 9.59153420e-05 -1.06961500e+00] [ 8.45659074e-04 1.46882151e-05 9.99999642e-01 -1.85991305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.02, Y:-1.07, Z:-1.86 [[ 9.91220680e-01 1.32215147e-01 -8.47723863e-04 7.20186175e+01] [-1.32215112e-01 9.91221042e-01 9.70693196e-05 -1.07361789e+00] [ 8.53115765e-04 1.58647888e-05 9.99999636e-01 -1.86004563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:-1.08, Z:-1.86 [[ 9.90950315e-01 1.34229180e-01 2.11902796e-05 7.20486421e+01] [-1.34229180e-01 9.90950315e-01 -2.12754473e-06 -1.07650075e+00] [-2.12840929e-05 -7.36062734e-07 1.00000000e+00 -1.86129280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:-1.08, Z:-1.86 [[ 9.90921208e-01 1.34442734e-01 -5.57885081e-04 7.20800973e+01] [-1.34442719e-01 9.90921365e-01 6.40897653e-05 -1.07973856e+00] [ 5.61436649e-04 1.14956795e-05 9.99999842e-01 -1.86286781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.11, Y:-1.08, Z:-1.86 [[ 9.90946312e-01 1.34255505e-01 -9.30622453e-04 7.21108127e+01] [-1.34255461e-01 9.90946749e-01 1.09772244e-04 -1.08392592e+00] [ 9.36934822e-04 1.61627467e-05 9.99999561e-01 -1.86436966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:-1.09, Z:-1.87 [[ 9.91049209e-01 1.33496027e-01 -5.25204462e-04 7.21406543e+01] [-1.33496014e-01 9.91049348e-01 5.98863092e-05 -1.08765549e+00] [ 5.28498124e-04 1.07624229e-05 9.99999860e-01 -1.86531683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.17, Y:-1.09, Z:-1.87 [[ 9.91238176e-01 1.32084319e-01 7.81670183e-04 7.21718498e+01] [-1.32084290e-01 9.91238484e-01 -8.85911363e-05 -1.08861193e+00] [-7.86523068e-04 -1.54314349e-05 9.99999691e-01 -1.86532113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.20, Y:-1.09, Z:-1.87 [[ 9.91400948e-01 1.30859034e-01 -2.71593704e-04 7.22030271e+01] [-1.30859031e-01 9.91400985e-01 3.15396263e-05 -1.08929826e+00] [ 2.73385511e-04 4.27207341e-06 9.99999963e-01 -1.86623713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:-1.09, Z:-1.87 [[ 9.91850244e-01 1.27374123e-01 -2.98781995e-03 7.22328458e+01] [-1.27373672e-01 9.91854743e-01 3.41457478e-04 -1.09181592e+00] [ 3.00697623e-03 4.18949148e-05 9.99995478e-01 -1.86893961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.26, Y:-1.10, Z:-1.87 [[ 9.92138996e-01 1.25108217e-01 -2.85410549e-03 7.22626176e+01] [-1.25107798e-01 9.92143101e-01 3.25645920e-04 -1.09595176e+00] [ 2.87242205e-03 3.39848367e-05 9.99995874e-01 -1.86911847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.29, Y:-1.10, Z:-1.87 [[ 9.92428682e-01 1.22798979e-01 -2.39207297e-03 7.22932068e+01] [-1.22798677e-01 9.92431564e-01 2.73243315e-04 -1.09882437e+00] [ 2.40752272e-03 2.25688940e-05 9.99997102e-01 -1.86931656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:-1.10, Z:-1.87 [[ 9.92679469e-01 1.20760177e-01 -2.11000929e-03 7.23235546e+01] [-1.20759938e-01 9.92681711e-01 2.40772596e-04 -1.10063332e+00] [ 2.12364337e-03 1.57945782e-05 9.99997745e-01 -1.86958270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.35, Y:-1.10, Z:-1.87 [[ 9.93136162e-01 1.16954204e-01 -1.50919906e-03 7.23535389e+01] [-1.16954077e-01 9.93137309e-01 1.72514038e-04 -1.10360764e+00] [ 1.51901813e-03 5.17705209e-06 9.99998846e-01 -1.87002428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-1.11, Z:-1.87 [[ 9.93283299e-01 1.15697297e-01 -1.55675674e-03 7.23843944e+01] [-1.15697160e-01 9.93284519e-01 1.78251600e-04 -1.10831774e+00] [ 1.56692560e-03 3.05799667e-06 9.99998772e-01 -1.87057727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:-1.11, Z:-1.87 [[ 9.93397631e-01 1.14710548e-01 -1.62356124e-03 7.24146285e+01] [-1.14710398e-01 9.93398958e-01 1.85618684e-04 -1.11265528e+00] [ 1.63413647e-03 1.84619580e-06 9.99998665e-01 -1.87134950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:-1.12, Z:-1.87 [[ 9.93517796e-01 1.13648228e-01 -2.54349804e-03 7.24454657e+01] [-1.13647855e-01 9.93521052e-01 2.90974982e-04 -1.11693055e+00] [ 2.56008764e-03 -2.57253900e-08 9.99996723e-01 -1.87217963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.48, Y:-1.12, Z:-1.87 [[ 9.93863103e-01 1.10534499e-01 -4.27289387e-03 7.24762152e+01] [-1.10533420e-01 9.93872288e-01 4.88564391e-04 -1.12315960e+00] [ 4.30071403e-03 -1.32685467e-05 9.99990752e-01 -1.87358986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:-1.13, Z:-1.87 [[ 9.94082172e-01 1.08571929e-01 -3.57368649e-03 7.25056861e+01] [-1.08571158e-01 9.94088596e-01 4.09747970e-04 -1.12800521e+00] [ 3.59704811e-03 -1.93238726e-05 9.99993530e-01 -1.87461679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:-1.14, Z:-1.87 [[ 9.94538799e-01 1.04292668e-01 -3.95181151e-03 7.25365077e+01] [-1.04291694e-01 9.94546650e-01 4.52241874e-04 -1.13607472e+00] [ 3.97742641e-03 -3.76309735e-05 9.99992089e-01 -1.87495079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.57, Y:-1.14, Z:-1.88 [[ 9.94727605e-01 1.02475728e-01 -3.96453607e-03 7.25680940e+01] [-1.02474717e-01 9.94735504e-01 4.57872652e-04 -1.14350739e+00] [ 3.99058561e-03 -4.91938539e-05 9.99992036e-01 -1.87539670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:-1.15, Z:-1.88 [[ 9.94882414e-01 1.00987416e-01 -3.24414427e-03 7.25989186e+01] [-1.00986728e-01 9.94887702e-01 3.75622863e-04 -1.15191003e+00] [ 3.26549242e-03 -4.60850647e-05 9.99994667e-01 -1.87559464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.63, Y:-1.17, Z:-1.88 [[ 9.95049222e-01 9.93427249e-02 -2.84049289e-03 7.26297024e+01] [-9.93421863e-02 9.95053275e-01 3.30423813e-04 -1.16527770e+00] [ 2.85926695e-03 -4.66071851e-05 9.99995911e-01 -1.87585802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.66, Y:-1.17, Z:-1.88 [[ 9.95029712e-01 9.95047917e-02 -3.82992574e-03 7.26608285e+01] [-9.95038233e-02 9.95037081e-01 4.43028323e-04 -1.17188275e+00] [ 3.85500157e-03 -5.97340904e-05 9.99992568e-01 -1.87703295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-1.18, Z:-1.88 [[ 9.94963496e-01 1.00107512e-01 -5.11149915e-03 7.26916935e+01] [-1.00105792e-01 9.94976623e-01 5.91868107e-04 -1.17738019e+00] [ 5.14507260e-03 -7.71964919e-05 9.99986761e-01 -1.87868623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:-1.19, Z:-1.88 [[ 9.94762428e-01 1.01925519e-01 -7.67468883e-03 7.27234055e+01] [-1.01921697e-01 9.94792028e-01 8.88570933e-04 -1.18704934e+00] [ 7.72528732e-03 -1.01699672e-04 9.99970154e-01 -1.88098355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.75, Y:-1.19, Z:-1.88 [[ 9.94615337e-01 1.03274772e-01 -8.64019145e-03 7.27539730e+01] [-1.03270010e-01 9.94652860e-01 9.96697919e-04 -1.19283713e+00] [ 8.69692488e-03 -9.90583775e-05 9.99962176e-01 -1.88241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:-1.20, Z:-1.88 [[ 9.94399955e-01 1.05310893e-01 -8.85131587e-03 7.27845488e+01] [-1.05305974e-01 9.94439344e-01 1.02125832e-03 -1.19737064e+00] [ 8.90964637e-03 -8.34427919e-05 9.99960305e-01 -1.88265171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-1.20, Z:-1.88 [[ 9.93806598e-01 1.10678415e-01 -9.93650847e-03 7.28147328e+01] [-1.10672487e-01 9.93856271e-01 1.14623601e-03 -1.20372397e+00] [ 1.00023248e-02 -3.94388078e-05 9.99949975e-01 -1.88421853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.85, Y:-1.21, Z:-1.88 [[ 9.93535404e-01 1.13065651e-01 -1.01763980e-02 7.28457143e+01] [-1.13059552e-01 9.93587519e-01 1.17442588e-03 -1.20914055e+00] [ 1.02439293e-02 -1.62946957e-05 9.99947529e-01 -1.88482958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.88, Y:-1.21, Z:-1.88 [[ 9.93199625e-01 1.16020319e-01 -9.68451434e-03 7.28770542e+01] [-1.16014933e-01 9.93246840e-01 1.11793870e-03 -1.21363697e+00] [ 9.74881687e-03 1.32119841e-05 9.99952479e-01 -1.88432336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.91, Y:-1.21, Z:-1.88 [[ 9.92351629e-01 1.23235082e-01 -7.16647061e-03 7.29062147e+01] [-1.23232321e-01 9.92377504e-01 8.27263165e-04 -1.21491870e+00] [ 7.21379206e-03 6.22048578e-05 9.99973978e-01 -1.88451268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:-1.22, Z:-1.88 [[ 9.91820133e-01 1.27488511e-01 -6.28523826e-03 7.29373952e+01] [-1.27486470e-01 9.91840044e-01 7.25973339e-04 -1.21911920e+00] [ 6.32650425e-03 8.12478671e-05 9.99979984e-01 -1.88451703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.97, Y:-1.22, Z:-1.89 [[ 9.91308427e-01 1.31386965e-01 -6.71327401e-03 7.29681034e+01] [-1.31384725e-01 9.91331152e-01 7.75532750e-04 -1.22322843e+00] [ 6.75697256e-03 1.13229512e-04 9.99977165e-01 -1.88500713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.00, Y:-1.22, Z:-1.89 [[ 9.90540780e-01 1.36976419e-01 -8.15009359e-03 7.29986479e+01] [-1.36973309e-01 9.90574291e-01 9.41214989e-04 -1.22373674e+00] [ 8.20219744e-03 1.84033457e-04 9.99966344e-01 -1.88558737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:-1.22, Z:-1.89 [[ 9.90420235e-01 1.37938484e-01 -6.38230175e-03 7.30293675e+01] [-1.37936598e-01 9.90440787e-01 7.36845020e-04 -1.22404533e+00] [ 6.42293125e-03 1.50566772e-04 9.99979361e-01 -1.88620942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.06, Y:-1.22, Z:-1.89 [[ 9.90406333e-01 1.38126177e-01 -4.05644515e-03 7.30601278e+01] [-1.38125399e-01 9.90414636e-01 4.72617115e-04 -1.22498795e+00] [ 4.08284344e-03 9.22151201e-05 9.99991661e-01 -1.88666321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:-1.23, Z:-1.89 [[ 9.90934550e-01 1.34313434e-01 -2.93585041e-03 7.30909870e+01] [-1.34313006e-01 9.90938897e-01 3.43320322e-04 -1.22679191e+00] [ 2.95536090e-03 5.41149258e-05 9.99995631e-01 -1.88698100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.12, Y:-1.23, Z:-1.89 [[ 9.91343127e-01 1.31263886e-01 -2.93215827e-03 7.31240598e+01] [-1.31263442e-01 9.91347462e-01 3.44452859e-04 -1.23120475e+00] [ 2.95200188e-03 4.34142123e-05 9.99995642e-01 -1.88808419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:-1.24, Z:-1.89 [[ 9.91795973e-01 1.27796011e-01 -2.98799206e-03 7.31558941e+01] [-1.27795537e-01 9.91800473e-01 3.49615228e-04 -1.23595280e+00] [ 3.00817137e-03 3.51050752e-05 9.99995475e-01 -1.88919326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:-1.24, Z:-1.89 [[ 9.92247509e-01 1.24221977e-01 -3.71235130e-03 7.31879740e+01] [-1.24221215e-01 9.92254453e-01 4.36079552e-04 -1.24202605e+00] [ 3.73776777e-03 2.84539394e-05 9.99993014e-01 -1.89031840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:-1.25, Z:-1.89 [[ 9.93000021e-01 1.17965992e-01 -5.91468325e-03 7.32199794e+01] [-1.17963955e-01 9.93017636e-01 6.93422603e-04 -1.24928212e+00] [ 5.95518506e-03 9.15076775e-06 9.99982268e-01 -1.89196913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-1.25, Z:-1.89 [[ 9.93241746e-01 1.15911015e-01 -5.95566202e-03 7.32530775e+01] [-1.15908905e-01 9.93259602e-01 6.99423207e-04 -1.25313874e+00] [ 5.99658935e-03 -4.38206156e-06 9.99982020e-01 -1.89350087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:-1.26, Z:-1.89 [[ 9.93596861e-01 1.12856322e-01 -5.35987167e-03 7.32851673e+01] [-1.12854560e-01 9.93611317e-01 6.30994207e-04 -1.25943479e+00] [ 5.39684084e-03 -2.20679038e-05 9.99985437e-01 -1.89378947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.32, Y:-1.27, Z:-1.89 [[ 9.93721811e-01 1.11689989e-01 -6.50446638e-03 7.33164627e+01] [-1.11687370e-01 9.93743098e-01 7.65670553e-04 -1.26810747e+00] [ 6.54928631e-03 -3.43967867e-05 9.99978553e-01 -1.89430817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:-1.28, Z:-1.89 [[ 9.93838952e-01 1.10587081e-01 -7.39151372e-03 7.33478349e+01] [-1.10583676e-01 9.93866437e-01 8.68929694e-04 -1.27713140e+00] [ 7.44226981e-03 -4.61954160e-05 9.99972305e-01 -1.89463997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.38, Y:-1.28, Z:-1.89 [[ 9.93966211e-01 1.09507096e-01 -6.27427475e-03 7.33802291e+01] [-1.09504600e-01 9.93986013e-01 7.40990855e-04 -1.28321395e+00] [ 6.31768510e-03 -4.94579240e-05 9.99980042e-01 -1.89466777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:-1.29, Z:-1.90 [[ 9.93950655e-01 1.09692656e-01 -5.44220442e-03 7.34132055e+01] [-1.09690772e-01 9.93965552e-01 6.44375303e-04 -1.28633860e+00] [ 5.48004696e-03 -4.35176488e-05 9.99984983e-01 -1.89526491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:-1.29, Z:-1.90 [[ 9.93765420e-01 1.11326841e-01 -6.05184487e-03 7.34451230e+01] [-1.11324550e-01 9.93783846e-01 7.15077532e-04 -1.29201111e+00] [ 6.09383299e-03 -3.69004165e-05 9.99981432e-01 -1.89605271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:-1.30, Z:-1.90 [[ 9.93674133e-01 1.12112384e-01 -6.52151627e-03 7.34766873e+01] [-1.12109726e-01 9.93695533e-01 7.72916270e-04 -1.29864450e+00] [ 6.56705507e-03 -3.69015032e-05 9.99978436e-01 -1.89691406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-1.31, Z:-1.90 [[ 9.93639641e-01 1.12413406e-01 -6.59466783e-03 7.35087510e+01] [-1.12410685e-01 9.93661524e-01 7.83063214e-04 -1.30600587e+00] [ 6.64089449e-03 -3.67715237e-05 9.99977948e-01 -1.89790941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-1.31, Z:-1.90 [[ 9.93631514e-01 1.12443300e-01 -7.27453759e-03 7.35407212e+01] [-1.12439982e-01 9.93658142e-01 8.64743297e-04 -1.31305735e+00] [ 7.32563809e-03 -4.12873151e-05 9.99973166e-01 -1.89818579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.57, Y:-1.32, Z:-1.90 [[ 9.93630511e-01 1.12425614e-01 -7.67385877e-03 7.35734233e+01] [-1.12421912e-01 9.93660143e-01 9.13480968e-04 -1.31910450e+00] [ 7.72790626e-03 -4.49526843e-05 9.99970138e-01 -1.89887616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.61, Y:-1.33, Z:-1.90 [[ 9.93656182e-01 1.12154421e-01 -8.29322018e-03 7.36059381e+01] [-1.12150077e-01 9.93690789e-01 9.88492261e-04 -1.32587167e+00] [ 8.35176028e-03 -5.21361680e-05 9.99965122e-01 -1.89961535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.64, Y:-1.33, Z:-1.90 [[ 9.93646726e-01 1.12238153e-01 -8.29343281e-03 7.36391745e+01] [-1.12233827e-01 9.93681334e-01 9.86699218e-04 -1.32995603e+00] [ 8.35177468e-03 -4.96267422e-05 9.99965122e-01 -1.90039187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:-1.33, Z:-1.90 [[ 9.93657017e-01 1.12114128e-01 -8.72667782e-03 7.36704765e+01] [-1.12109301e-01 9.93695335e-01 1.04193992e-03 -1.33490133e+00] [ 8.78847523e-03 -5.69891655e-05 9.99961379e-01 -1.90159602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.70, Y:-1.34, Z:-1.90 [[ 9.93677455e-01 1.11878652e-01 -9.39585642e-03 7.37028883e+01] [-1.11873027e-01 9.93721874e-01 1.12382304e-03 -1.33934624e+00] [ 9.46259985e-03 -6.55747221e-05 9.99955226e-01 -1.90229375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:-1.35, Z:-1.90 [[ 9.93741691e-01 1.11305107e-01 -9.41409528e-03 7.37342210e+01] [-1.11299420e-01 9.93786279e-01 1.12744119e-03 -1.34570331e+00] [ 9.48108868e-03 -7.26019683e-05 9.99955051e-01 -1.90250947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:-1.35, Z:-1.90 [[ 9.93810424e-01 1.10777320e-01 -8.32018630e-03 7.37664488e+01] [-1.10772841e-01 9.93845250e-01 9.98742477e-04 -1.35155225e+00] [ 8.37961565e-03 -7.09100122e-05 9.99964888e-01 -1.90310590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:-1.36, Z:-1.90 [[ 9.93880066e-01 1.10226145e-01 -7.25330121e-03 7.37992252e+01] [-1.10222712e-01 9.93906531e-01 8.72665611e-04 -1.35702510e+00] [ 7.30529401e-03 -6.78464273e-05 9.99973314e-01 -1.90341696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.83, Y:-1.36, Z:-1.90 [[ 9.94007304e-01 1.09072507e-01 -7.25721839e-03 7.38315868e+01] [-1.09069027e-01 9.94033793e-01 8.74734467e-04 -1.36265449e+00] [ 7.30932980e-03 -7.79547005e-05 9.99973283e-01 -1.90374164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:-1.37, Z:-1.90 [[ 9.94090963e-01 1.08346900e-01 -6.64135008e-03 7.38645764e+01] [-1.08343958e-01 9.94113144e-01 8.02243227e-04 -1.36808207e+00] [ 6.68917397e-03 -7.79525892e-05 9.99977624e-01 -1.90417860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.90, Y:-1.38, Z:-1.90 [[ 9.94393127e-01 1.05692553e-01 -3.37534869e-03 7.38963672e+01] [-1.05691769e-01 9.94398854e-01 4.10330775e-04 -1.37568847e+00] [ 3.39981178e-03 -5.12835266e-05 9.99994219e-01 -1.90390708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:-1.38, Z:-1.90 [[ 9.94497235e-01 1.04697782e-01 -3.69109208e-03 7.39286732e+01] [-1.04696836e-01 9.94504083e-01 4.49262963e-04 -1.38157403e+00] [ 3.71784298e-03 -6.03451124e-05 9.99993087e-01 -1.90468699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.96, Y:-1.39, Z:-1.91 [[ 9.94601596e-01 1.03642980e-01 -5.07907127e-03 7.39599728e+01] [-1.03641180e-01 9.94614561e-01 6.17135248e-04 -1.38679767e+00] [ 5.11567998e-03 -8.74027661e-05 9.99986911e-01 -1.90608571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:-1.39, Z:-1.91 [[ 9.94649044e-01 1.03121944e-01 -6.25645186e-03 7.39926580e+01] [-1.03119198e-01 9.94668715e-01 7.60659505e-04 -1.39274617e+00] [ 6.30153762e-03 -1.11428949e-04 9.99980139e-01 -1.90705387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:-1.40, Z:-1.91 [[ 9.94648814e-01 1.03150116e-01 -5.81291939e-03 7.40247514e+01] [-1.03147737e-01 9.94665794e-01 7.08372858e-04 -1.40109549e+00] [ 5.85498083e-03 -1.04992743e-04 9.99982854e-01 -1.90669637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:-1.41, Z:-1.91 [[ 9.94543121e-01 1.04135360e-01 -6.30932502e-03 7.40567626e+01] [-1.04132572e-01 9.94563128e-01 7.69721371e-04 -1.40761053e+00] [ 6.35517723e-03 -1.08514853e-04 9.99979800e-01 -1.90669837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.09, Y:-1.41, Z:-1.91 [[ 9.94375741e-01 1.05641294e-01 -7.53679267e-03 7.40886023e+01] [-1.05637357e-01 9.94404296e-01 9.19677168e-04 -1.41324700e+00] [ 7.59177490e-03 -1.18337808e-04 9.99971175e-01 -1.90736946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:-1.42, Z:-1.91 [[ 9.93998498e-01 1.09029052e-01 -8.92475497e-03 7.41198957e+01] [-1.09023680e-01 9.94038558e-01 1.08772338e-03 -1.41886136e+00] [ 8.99014401e-03 -1.08185780e-04 9.99959582e-01 -1.90938636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.15, Y:-1.42, Z:-1.91 [[ 9.93769249e-01 1.11070840e-01 -9.27082470e-03 7.41523868e+01] [-1.11065098e-01 9.93812487e-01 1.13344761e-03 -1.42392788e+00] [ 9.33935433e-03 -9.67203271e-05 9.99956383e-01 -1.90994428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:-1.43, Z:-1.91 [[ 9.93348241e-01 1.14649660e-01 -1.07110746e-02 7.41837958e+01] [-1.14642216e-01 9.93405985e-01 1.30842098e-03 -1.43066887e+00] [ 1.07904557e-02 -7.17763404e-05 9.99941779e-01 -1.91150263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.22, Y:-1.44, Z:-1.91 [[ 9.93141890e-01 1.16340499e-01 -1.15790946e-02 7.42157466e+01] [-1.16331872e-01 9.93209386e-01 1.41807635e-03 -1.43698143e+00] [ 1.16654452e-02 -6.13332631e-05 9.99931954e-01 -1.91282764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.25, Y:-1.44, Z:-1.91 [[ 9.92954153e-01 1.17847841e-01 -1.24071262e-02 7.42485277e+01] [-1.17838027e-01 9.93031663e-01 1.52163810e-03 -1.44335880e+00] [ 1.24999909e-02 -4.88855968e-05 9.99921871e-01 -1.91441871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.28, Y:-1.45, Z:-1.92 [[ 9.92603599e-01 1.20490332e-01 -1.48383130e-02 7.42812285e+01] [-1.20476557e-01 9.92714500e-01 1.82200074e-03 -1.44941359e+00] [ 1.49497419e-02 -2.08556332e-05 9.99888246e-01 -1.91675123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.31, Y:-1.45, Z:-1.92 [[ 9.92452126e-01 1.21682426e-01 -1.52369384e-02 7.43136466e+01] [-1.21667996e-01 9.92569084e-01 1.87392699e-03 -1.45397523e+00] [ 1.53517380e-02 -5.93505567e-06 9.99882155e-01 -1.91838446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:-1.46, Z:-1.92 [[ 9.92385550e-01 1.22306803e-01 -1.45590454e-02 7.43454669e+01] [-1.22293691e-01 9.92492341e-01 1.79083672e-03 -1.45989293e+00] [ 1.46687725e-02 3.27892024e-06 9.99892408e-01 -1.91943677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.38, Y:-1.47, Z:-1.92 [[ 9.92341198e-01 1.22549905e-01 -1.55070102e-02 7.43775535e+01] [-1.22534990e-01 9.92462352e-01 1.91190304e-03 -1.46742841e+00] [ 1.56244274e-02 2.89118803e-06 9.99877931e-01 -1.92037137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:-1.47, Z:-1.92 [[ 9.92361349e-01 1.22270927e-01 -1.63942906e-02 7.44093444e+01] [-1.22254218e-01 9.92496761e-01 2.02132210e-03 -1.47253523e+00] [ 1.65184293e-02 -1.61075289e-06 9.99863561e-01 -1.92119429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.44, Y:-1.48, Z:-1.92 [[ 9.92418620e-01 1.21841936e-01 -1.61190876e-02 7.44415545e+01] [-1.21825646e-01 9.92549516e-01 1.99237554e-03 -1.47820224e+00] [ 1.62417475e-02 -1.35523360e-05 9.99868094e-01 -1.92135158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.47, Y:-1.48, Z:-1.92 [[ 9.92467515e-01 1.21601168e-01 -1.48790867e-02 7.44731471e+01] [-1.21587219e-01 9.92579042e-01 1.84189225e-03 -1.48459342e+00] [ 1.49926459e-02 -1.89114414e-05 9.99887604e-01 -1.92185276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.51, Y:-1.50, Z:-1.92 [[ 9.92506145e-01 1.21316985e-01 -1.46198952e-02 7.45051399e+01] [-1.21303441e-01 9.92613816e-01 1.81294457e-03 -1.49520479e+00] [ 1.47318509e-02 -2.59150340e-05 9.99891480e-01 -1.92146004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:-1.50, Z:-1.92 [[ 9.92422026e-01 1.21892380e-01 -1.55167525e-02 7.45375090e+01] [-1.21877149e-01 9.92543323e-01 1.92702751e-03 -1.50063723e+00] [ 1.56359390e-02 -2.12869922e-05 9.99877751e-01 -1.92214263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.57, Y:-1.50, Z:-1.92 [[ 9.92026606e-01 1.24917744e-01 -1.66964100e-02 7.45691761e+01] [-1.24900495e-01 9.92167101e-01 2.07597513e-03 -1.50374868e+00] [ 1.68249548e-02 2.59673170e-05 9.99858450e-01 -1.92367140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.60, Y:-1.51, Z:-1.93 [[ 9.91798732e-01 1.26651163e-01 -1.71685327e-02 7.46004989e+01] [-1.26633133e-01 9.91947317e-01 2.13763627e-03 -1.50850023e+00] [ 1.73010141e-02 5.40001525e-05 9.99850325e-01 -1.92565554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.63, Y:-1.51, Z:-1.93 [[ 9.91405616e-01 1.29668753e-01 -1.73470000e-02 7.46334198e+01] [-1.29650745e-01 9.91557363e-01 2.16353015e-03 -1.51307917e+00] [ 1.74810878e-02 1.04115524e-04 9.99847189e-01 -1.92578054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-1.52, Z:-1.93 [[ 9.91258127e-01 1.30979401e-01 -1.58657572e-02 7.46650331e+01] [-1.30964457e-01 9.91385083e-01 1.98177080e-03 -1.51604275e+00] [ 1.59886461e-02 1.13403861e-04 9.99872167e-01 -1.92604442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:-1.52, Z:-1.93 [[ 9.91177637e-01 1.31793147e-01 -1.40519890e-02 7.46968009e+01] [-1.31781464e-01 9.91277234e-01 1.75815216e-03 -1.51921422e+00] [ 1.41611292e-02 1.09150587e-04 9.99899720e-01 -1.92639285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:-1.52, Z:-1.93 [[ 9.91121997e-01 1.32296639e-01 -1.32206898e-02 7.47288877e+01] [-1.32286309e-01 9.91210163e-01 1.65668751e-03 -1.52300086e+00] [ 1.33236562e-02 1.06936825e-04 9.99911230e-01 -1.92649071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.76, Y:-1.53, Z:-1.93 [[ 9.91119546e-01 1.32501652e-01 -1.11962901e-02 7.47618168e+01] [-1.32494221e-01 9.91182780e-01 1.40607916e-03 -1.52695580e+00] [ 1.12838778e-02 8.98512067e-05 9.99936331e-01 -1.92539619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:-1.53, Z:-1.92 [[ 9.91220025e-01 1.31850942e-01 -9.90912375e-03 7.47947573e+01] [-1.31845065e-01 9.91269552e-01 1.24693522e-03 -1.53258503e+00] [ 9.98702224e-03 7.04819031e-05 9.99950126e-01 -1.92491297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-1.54, Z:-1.93 [[ 9.91451617e-01 1.30031406e-01 -1.07482602e-02 7.48270692e+01] [-1.30024365e-01 9.91509874e-01 1.35425946e-03 -1.53858755e+00] [ 1.08331024e-02 5.48529820e-05 9.99941319e-01 -1.92546876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.86, Y:-1.54, Z:-1.93 [[ 9.91459482e-01 1.29913074e-01 -1.14319111e-02 7.48586934e+01] [-1.29905080e-01 9.91525385e-01 1.44228850e-03 -1.54276674e+00] [ 1.15224022e-02 5.50927214e-05 9.99933613e-01 -1.92676615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.89, Y:-1.55, Z:-1.93 [[ 9.91352889e-01 1.30732357e-01 -1.13357614e-02 7.48912081e+01] [-1.30724524e-01 9.91417695e-01 1.43244791e-03 -1.54736070e+00] [ 1.14257418e-02 6.18006430e-05 9.99934722e-01 -1.92826843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-1.55, Z:-1.93 [[ 9.90835288e-01 1.34628266e-01 -1.09846391e-02 7.49233736e+01] [-1.34621129e-01 9.90896170e-01 1.38991985e-03 -1.55076885e+00] [ 1.10717593e-02 1.01582876e-04 9.99938701e-01 -1.92914761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-1.55, Z:-1.93 [[ 9.90420790e-01 1.37601998e-01 -1.15042927e-02 7.49565125e+01] [-1.37594341e-01 9.90487593e-01 1.45817378e-03 -1.55403058e+00] [ 1.15955068e-02 1.38719958e-04 9.99932760e-01 -1.93016350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.99, Y:-1.56, Z:-1.93 [[ 9.90036816e-01 1.40302003e-01 -1.19352525e-02 7.49886045e+01] [-1.40293937e-01 9.90108740e-01 1.51454020e-03 -1.55753570e+00] [ 1.20296908e-02 1.74993006e-04 9.99927625e-01 -1.93098567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.02, Y:-1.56, Z:-1.93 [[ 9.89642014e-01 1.43026241e-01 -1.23360622e-02 7.50206624e+01] [-1.43017812e-01 9.89718874e-01 1.56734448e-03 -1.56128042e+00] [ 1.24334050e-02 2.13166675e-04 9.99922680e-01 -1.93169478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.05, Y:-1.56, Z:-1.93 [[ 9.89042451e-01 1.47020833e-01 -1.34128503e-02 7.50537332e+01] [-1.47011200e-01 9.89133355e-01 1.70669725e-03 -1.56297578e+00] [ 1.35180177e-02 2.83843189e-04 9.99908587e-01 -1.93280724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.09, Y:-1.57, Z:-1.93 [[ 9.88864589e-01 1.48187521e-01 -1.36851815e-02 7.50854914e+01] [-1.48177576e-01 9.88959234e-01 1.74342544e-03 -1.56517536e+00] [ 1.37924405e-02 3.03825349e-04 9.99904834e-01 -1.93392275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-1.57, Z:-1.93 [[ 9.88803950e-01 1.48643629e-01 -1.31080107e-02 7.51182258e+01] [-1.48634509e-01 9.88890785e-01 1.67265877e-03 -1.56944080e+00] [ 1.32110210e-02 2.94371126e-04 9.99912687e-01 -1.93399825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.15, Y:-1.57, Z:-1.93 [[ 9.88856378e-01 1.48391908e-01 -1.19542956e-02 7.51511094e+01] [-1.48384272e-01 9.88928598e-01 1.52808056e-03 -1.57466245e+00] [ 1.20486995e-02 2.62777239e-04 9.99927377e-01 -1.93371910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:-1.58, Z:-1.93 [[ 9.88914370e-01 1.48086455e-01 -1.08981993e-02 7.51835972e+01] [-1.48080063e-01 9.88974392e-01 1.39563610e-03 -1.57838872e+00] [ 1.09847148e-02 2.33641438e-04 9.99939639e-01 -1.93380656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:-1.58, Z:-1.93 [[ 9.88804572e-01 1.48843126e-01 -1.05471700e-02 7.52168407e+01] [-1.48837158e-01 9.88860794e-01 1.35289435e-03 -1.57818418e+00] [ 1.06310519e-02 2.32062696e-04 9.99943462e-01 -1.93382008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.25, Y:-1.58, Z:-1.94 [[ 9.88624100e-01 1.50049103e-01 -1.03757203e-02 7.52491417e+01] [-1.50043377e-01 9.88678517e-01 1.33255947e-03 -1.58136769e+00] [ 1.04582011e-02 2.39407707e-04 9.99945283e-01 -1.93502950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.28, Y:-1.59, Z:-1.94 [[ 9.88484544e-01 1.51007126e-01 -9.75466140e-03 7.52814046e+01] [-1.51002088e-01 9.88532647e-01 1.25520690e-03 -1.58566508e+00] [ 9.83234644e-03 2.32221612e-04 9.99951634e-01 -1.93549691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:-1.59, Z:-1.94 [[ 9.88237549e-01 1.52709223e-01 -8.15107338e-03 7.53146458e+01] [-1.52705772e-01 9.88271142e-01 1.04776472e-03 -1.58541270e+00] [ 8.21547393e-03 2.09275516e-04 9.99966231e-01 -1.93552836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:-1.59, Z:-1.94 [[ 9.88128266e-01 1.53429295e-01 -7.87278258e-03 7.53482555e+01] [-1.53426066e-01 9.88159608e-01 1.01604264e-03 -1.58553557e+00] [ 7.93545645e-03 2.03909609e-04 9.99968493e-01 -1.93653860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.38, Y:-1.59, Z:-1.94 [[ 9.88068126e-01 1.53816174e-01 -7.87172175e-03 7.53818097e+01] [-1.53812945e-01 9.88099460e-01 1.01752053e-03 -1.58653508e+00] [ 7.93455512e-03 2.05393106e-04 9.99968500e-01 -1.93727460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:-1.59, Z:-1.94 [[ 9.88252608e-01 1.52682404e-01 -6.69819228e-03 7.54143785e+01] [-1.52680030e-01 9.88275294e-01 8.67409979e-04 -1.58734759e+00] [ 6.75209619e-03 1.65460026e-04 9.99977191e-01 -1.93775579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:-1.59, Z:-1.94 [[ 9.88502251e-01 1.51064738e-01 -6.53793412e-03 7.54475708e+01] [-1.51062429e-01 9.88523861e-01 8.48358284e-04 -1.59141329e+00] [ 6.59106090e-03 1.49032137e-04 9.99978268e-01 -1.93723107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.48, Y:-1.59, Z:-1.94 [[ 9.88851951e-01 1.48744821e-01 -6.84079131e-03 7.54799471e+01] [-1.48742230e-01 9.88875603e-01 8.88893970e-04 -1.59493289e+00] [ 6.89691001e-03 1.38530014e-04 9.99976206e-01 -1.93749144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:-1.60, Z:-1.94 [[ 9.89276176e-01 1.45927462e-01 -6.15002725e-03 7.55115606e+01] [-1.45925305e-01 9.89295287e-01 8.00457294e-04 -1.59827556e+00] [ 6.20100167e-03 1.05571270e-04 9.99980768e-01 -1.93769423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.55, Y:-1.60, Z:-1.94 [[ 9.90091262e-01 1.40254230e-01 -6.93133768e-03 7.55453488e+01] [-1.40251344e-01 9.90115521e-01 9.03107625e-04 -1.59589630e+00] [ 6.98948968e-03 7.79704552e-05 9.99975570e-01 -1.93964416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:-1.60, Z:-1.94 [[ 9.90426327e-01 1.37860854e-01 -7.07647201e-03 7.55778234e+01] [-1.37857778e-01 9.90451605e-01 9.22933472e-04 -1.59610742e+00] [ 7.13613946e-03 6.14491017e-05 9.99974536e-01 -1.94124081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.61, Y:-1.60, Z:-1.94 [[ 9.91235827e-01 1.31941384e-01 -6.55796656e-03 7.56101567e+01] [-1.31938601e-01 9.91257520e-01 8.57108770e-04 -1.59752697e+00] [ 6.61372179e-03 1.56520127e-05 9.99978129e-01 -1.94249036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:-1.60, Z:-1.94 [[ 9.91630497e-01 1.28936499e-01 -6.65859981e-03 7.56427919e+01] [-1.28933554e-01 9.91652852e-01 8.71565809e-04 -1.60195198e+00] [ 6.71539613e-03 -5.75429931e-06 9.99977451e-01 -1.94213694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:-1.61, Z:-1.94 [[ 9.91613324e-01 1.29068499e-01 -6.65865999e-03 7.56759724e+01] [-1.29065560e-01 9.91635680e-01 8.71101565e-04 -1.60643701e+00] [ 6.71539660e-03 -4.39223907e-06 9.99977451e-01 -1.94291341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.61, Z:-1.94 [[ 9.91960711e-01 1.26335173e-01 -7.30554514e-03 7.57084579e+01] [-1.26331541e-01 9.91987612e-01 9.58356561e-04 -1.61008411e+00] [ 7.36808442e-03 -2.77312791e-05 9.99972855e-01 -1.94364323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:-1.61, Z:-1.94 [[ 9.92418906e-01 1.22521013e-01 -9.66008717e-03 7.57397870e+01] [-1.22514481e-01 9.92465917e-01 1.26726112e-03 -1.61351909e+00] [ 9.74257339e-03 -7.41533270e-05 9.99952537e-01 -1.94466584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.62, Z:-1.94 [[ 9.92530988e-01 1.21641375e-01 -9.25280837e-03 7.57722912e+01] [-1.21635326e-01 9.92574113e-01 1.21585165e-03 -1.61668285e+00] [ 9.33199593e-03 -8.13020751e-05 9.99956453e-01 -1.94465599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.80, Y:-1.62, Z:-1.95 [[ 9.92541993e-01 1.21640375e-01 -8.00072326e-03 7.58047516e+01] [-1.21635839e-01 9.92574236e-01 1.05302735e-03 -1.61774841e+00] [ 8.06940242e-03 -7.19991824e-05 9.99967439e-01 -1.94510789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.84, Y:-1.62, Z:-1.95 [[ 9.92489710e-01 1.22129925e-01 -6.96109615e-03 7.58378745e+01] [-1.22126486e-01 9.92514120e-01 9.18537849e-04 -1.61847366e+00] [ 7.02116717e-03 -6.15051506e-05 9.99975349e-01 -1.94591556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.87, Y:-1.62, Z:-1.95 [[ 9.92195311e-01 1.24475228e-01 -7.37441976e-03 7.58707044e+01] [-1.24471425e-01 9.92222714e-01 9.74242648e-04 -1.62135721e+00] [ 7.43833587e-03 -4.87344479e-05 9.99972334e-01 -1.94673318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.90, Y:-1.63, Z:-1.95 [[ 9.91988740e-01 1.26078220e-01 -7.91346710e-03 7.59035416e+01] [-1.26073882e-01 9.92020303e-01 1.04674608e-03 -1.62590593e+00] [ 7.98229191e-03 -4.06788066e-05 9.99968140e-01 -1.94714679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.94, Y:-1.63, Z:-1.95 [[ 9.91688265e-01 1.28425828e-01 -7.82246892e-03 7.59363111e+01] [-1.28421653e-01 9.91719117e-01 1.03588042e-03 -1.62579099e+00] [ 7.89072577e-03 -2.26960733e-05 9.99968867e-01 -1.94768183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:-1.63, Z:-1.95 [[ 9.91613749e-01 1.29035683e-01 -7.20867669e-03 7.59680700e+01] [-1.29032155e-01 9.91639951e-01 9.54355277e-04 -1.62731992e+00] [ 7.27155768e-03 -1.62007296e-05 9.99973562e-01 -1.94839507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.00, Y:-1.63, Z:-1.95 [[ 9.91606278e-01 1.29116867e-01 -6.76938396e-03 7.60000607e+01] [-1.29113739e-01 9.91629384e-01 8.98875978e-04 -1.62969974e+00] [ 6.82878009e-03 -1.73105856e-05 9.99976683e-01 -1.94949935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:-1.63, Z:-1.95 [[ 9.91681970e-01 1.28529785e-01 -6.85314506e-03 7.60324066e+01] [-1.28526553e-01 9.91705649e-01 9.11722149e-04 -1.63348125e+00] [ 6.91348612e-03 -2.33273037e-05 9.99976101e-01 -1.94999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.06, Y:-1.64, Z:-1.95 [[ 9.91953328e-01 1.26449352e-01 -6.25744587e-03 7.60642943e+01] [-1.26446608e-01 9.91973064e-01 8.33723711e-04 -1.63744896e+00] [ 6.31264158e-03 -3.57822041e-05 9.99980074e-01 -1.95103856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.10, Y:-1.64, Z:-1.95 [[ 9.92105596e-01 1.25276367e-01 -5.68496272e-03 7.60963915e+01] [-1.25274074e-01 9.92121883e-01 7.59069486e-04 -1.64295840e+00] [ 5.73526939e-03 -4.08986444e-05 9.99983552e-01 -1.95134345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:-1.65, Z:-1.95 [[ 9.92447894e-01 1.22572240e-01 -4.81914609e-03 7.61287658e+01] [-1.22570552e-01 9.92459593e-01 6.45262138e-04 -1.65020665e+00] [ 4.86189899e-03 -4.97036555e-05 9.99988180e-01 -1.95081366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.16, Y:-1.66, Z:-1.95 [[ 9.92588331e-01 1.21415683e-01 -5.16121249e-03 7.61616376e+01] [-1.21413726e-01 9.92601747e-01 6.91836076e-04 -1.65640508e+00] [ 5.20702829e-03 -6.00663734e-05 9.99986442e-01 -1.95158572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:-1.66, Z:-1.95 [[ 9.92700463e-01 1.20496117e-01 -5.14556844e-03 7.61927458e+01] [-1.20494156e-01 9.92713796e-01 6.90412270e-04 -1.66152370e+00] [ 5.19126877e-03 -6.53616528e-05 9.99986523e-01 -1.95241116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:-1.67, Z:-1.95 [[ 9.92774740e-01 1.19905228e-01 -4.58831662e-03 7.62255873e+01] [-1.19903656e-01 9.92785340e-01 6.17226721e-04 -1.66661705e+00] [ 4.62922219e-03 -6.26111592e-05 9.99989283e-01 -1.95315792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.26, Y:-1.68, Z:-1.95 [[ 9.92864336e-01 1.19220654e-01 -2.61656011e-03 7.62563959e+01] [-1.19220134e-01 9.92867783e-01 3.54099287e-04 -1.67626480e+00] [ 2.64011418e-03 -3.96259059e-05 9.99996514e-01 -1.95263834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.29, Y:-1.68, Z:-1.95 [[ 9.92859159e-01 1.19281681e-01 -1.60352471e-03 7.62889666e+01] [-1.19281482e-01 9.92860453e-01 2.19498227e-04 -1.68372748e+00] [ 1.61825838e-03 -2.66600221e-05 9.99998690e-01 -1.95236102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:-1.69, Z:-1.95 [[ 9.92780736e-01 1.19934731e-01 -1.43892588e-03 7.63208749e+01] [-1.19934571e-01 9.92781779e-01 1.97403929e-04 -1.68950049e+00] [ 1.45221498e-03 -2.34018601e-05 9.99998945e-01 -1.95262173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.35, Y:-1.69, Z:-1.95 [[ 9.92546130e-01 1.21820438e-01 -3.45833893e-03 7.63528893e+01] [-1.21819544e-01 9.92552154e-01 4.68786462e-04 -1.69465802e+00] [ 3.48968953e-03 -4.39989183e-05 9.99993910e-01 -1.95427467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.39, Y:-1.70, Z:-1.96 [[ 9.92337541e-01 1.23507459e-01 -3.48028642e-03 7.63854087e+01] [-1.23506561e-01 9.92343643e-01 4.72585191e-04 -1.70101146e+00] [ 3.51200790e-03 -3.91258207e-05 9.99993832e-01 -1.95577727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:-1.71, Z:-1.96 [[ 9.92060376e-01 1.25712162e-01 -3.55853558e-03 7.64174263e+01] [-1.25711236e-01 9.92066757e-01 4.83838823e-04 -1.70683449e+00] [ 3.59112927e-03 -3.26494203e-05 9.99993551e-01 -1.95628135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.45, Y:-1.71, Z:-1.96 [[ 9.91320263e-01 1.31421763e-01 -3.52949299e-03 7.64497473e+01] [-1.31420884e-01 9.91326546e-01 4.80798965e-04 -1.71170768e+00] [ 3.56206754e-03 -1.27766678e-05 9.99993656e-01 -1.95626878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:76.48, Y:-1.72, Z:-1.96 [[ 9.90939205e-01 1.34267796e-01 -3.41348102e-03 7.64815361e+01] [-1.34266995e-01 9.90945084e-01 4.63813590e-04 -1.71666624e+00] [ 3.44484746e-03 -1.29323086e-06 9.99994066e-01 -1.95756338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.51, Y:-1.72, Z:-1.96 [[ 9.90546982e-01 1.37136074e-01 -3.22085750e-03 7.65132692e+01] [-1.37135374e-01 9.90552218e-01 4.38173663e-04 -1.72270974e+00] [ 3.25051696e-03 7.66189937e-06 9.99994717e-01 -1.95648367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.55, Y:-1.73, Z:-1.96 [[ 9.90155314e-01 1.39923338e-01 -3.73016234e-03 7.65460173e+01] [-1.39922412e-01 9.90162340e-01 5.09374499e-04 -1.72694627e+00] [ 3.76473965e-03 1.75734441e-05 9.99992913e-01 -1.95759760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.58, Y:-1.73, Z:-1.96 [[ 9.89414436e-01 1.45024784e-01 -5.18520216e-03 7.65782769e+01] [-1.45023071e-01 9.89428021e-01 7.06963469e-04 -1.72736730e+00] [ 5.23291154e-03 5.24940781e-05 9.99986307e-01 -1.95929555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:76.61, Y:-1.73, Z:-1.96 [[ 9.89037811e-01 1.47560691e-01 -5.48178540e-03 7.66098965e+01] [-1.47558811e-01 9.89053000e-01 7.48087182e-04 -1.72945108e+00] [ 5.53216456e-03 6.89992265e-05 9.99984695e-01 -1.96092711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.64, Y:-1.73, Z:-1.96 [[ 9.88174980e-01 1.53282533e-01 -3.83055661e-03 7.66428496e+01] [-1.53281649e-01 9.88182402e-01 5.25074327e-04 -1.73120258e+00] [ 3.86577336e-03 6.82887213e-05 9.99992526e-01 -1.95980461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.68, Y:-1.73, Z:-1.96 [[ 9.87735949e-01 1.56093583e-01 -3.53389752e-03 7.66751465e+01] [-1.56092852e-01 9.87742268e-01 4.83491141e-04 -1.73442223e+00] [ 3.56604981e-03 7.40545620e-05 9.99993639e-01 -1.95927254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:-1.74, Z:-1.96 [[ 9.87327488e-01 1.58657539e-01 -3.49529481e-03 7.67075644e+01] [-1.58656832e-01 9.87333672e-01 4.80222784e-04 -1.73708274e+00] [ 3.52721322e-03 8.04152472e-05 9.99993776e-01 -1.95975961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.74, Y:-1.74, Z:-1.96 [[ 9.86457876e-01 1.63945116e-01 -4.78090755e-03 7.67401950e+01] [-1.63943868e-01 9.86469452e-01 6.54462916e-04 -1.73579979e+00] [ 4.82351525e-03 1.38200377e-04 9.99988357e-01 -1.96084937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:-1.74, Z:-1.96 [[ 9.86094122e-01 1.66088840e-01 -5.73415766e-03 7.67711632e+01] [-1.66087075e-01 9.86110778e-01 7.85965676e-04 -1.73576953e+00] [ 5.78505480e-03 1.77333342e-04 9.99983251e-01 -1.96222618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.80, Y:-1.74, Z:-1.96 [[ 9.85818269e-01 1.67677950e-01 -6.81513105e-03 7.68038630e+01] [-1.67675487e-01 9.85841801e-01 9.35182622e-04 -1.73632476e+00] [ 6.87545058e-03 2.20810307e-04 9.99976339e-01 -1.96372666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:-1.74, Z:-1.96 [[ 9.85757333e-01 1.68065731e-01 -6.03239043e-03 7.68345831e+01] [-1.68063820e-01 9.85775771e-01 8.25940065e-04 -1.73508182e+00] [ 6.08539654e-03 1.99650101e-04 9.99981464e-01 -1.96425956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:-1.74, Z:-1.96 [[ 9.85924463e-01 1.67116635e-01 -4.99836612e-03 7.68662812e+01] [-1.67115313e-01 9.85937120e-01 6.83954776e-04 -1.73642297e+00] [ 5.04237492e-03 1.60975774e-04 9.99987274e-01 -1.96387516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:-1.74, Z:-1.96 [[ 9.86145704e-01 1.65820929e-01 -4.47995943e-03 7.68969268e+01] [-1.65819855e-01 9.86155870e-01 6.12853749e-04 -1.73691737e+00] [ 4.51956227e-03 1.38503130e-04 9.99989777e-01 -1.96357086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.93, Y:-1.74, Z:-1.96 [[ 9.86340424e-01 1.64658954e-01 -4.47180337e-03 7.69279950e+01] [-1.64657872e-01 9.86350552e-01 6.11465589e-04 -1.73734798e+00] [ 4.51144901e-03 1.33204400e-04 9.99989814e-01 -1.96340826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:-1.74, Z:-1.96 [[ 9.86861298e-01 1.61489699e-01 -5.08488502e-03 7.69588748e+01] [-1.61488259e-01 9.86874389e-01 6.95297166e-04 -1.73526515e+00] [ 5.13042612e-03 1.34987364e-04 9.99986830e-01 -1.96421025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.99, Y:-1.74, Z:-1.97 [[ 9.87165120e-01 1.59570030e-01 -6.51396695e-03 7.69894305e+01] [-1.59567625e-01 9.87186598e-01 8.90707017e-04 -1.73586983e+00] [ 6.57263102e-03 1.60143336e-04 9.99978387e-01 -1.96511421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:-1.74, Z:-1.97 [[ 9.87516130e-01 1.57359187e-01 -7.06956025e-03 7.70191218e+01] [-1.57356302e-01 9.87541422e-01 9.65957741e-04 -1.73542180e+00] [ 7.13348591e-03 1.58541007e-04 9.99974544e-01 -1.96718429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.05, Y:-1.73, Z:-1.97 [[ 9.87840596e-01 1.55315976e-01 -6.92134826e-03 7.70482204e+01] [-1.55313162e-01 9.87864833e-01 9.45528743e-04 -1.73464188e+00] [ 6.98421226e-03 1.40944809e-04 9.99975600e-01 -1.96799020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:-1.73, Z:-1.97 [[ 9.88602987e-01 1.50433419e-01 -5.82418099e-03 7.70775243e+01] [-1.50431345e-01 9.88620138e-01 7.95084554e-04 -1.72919251e+00] [ 5.87750990e-03 9.01164160e-05 9.99982723e-01 -1.96802409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:-1.73, Z:-1.97 [[ 9.89026284e-01 1.47633055e-01 -5.61166686e-03 7.71077659e+01] [-1.47631084e-01 9.89042201e-01 7.66147443e-04 -1.72961657e+00] [ 5.66328403e-03 7.07165010e-05 9.99983961e-01 -1.96729235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.14, Y:-1.73, Z:-1.97 [[ 9.89458427e-01 1.44698895e-01 -5.85243538e-03 7.71369159e+01] [-1.44696702e-01 9.89475733e-01 7.98541908e-04 -1.73062397e+00] [ 5.90639092e-03 5.67040785e-05 9.99982556e-01 -1.96713082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:-1.73, Z:-1.97 [[ 9.90392752e-01 1.38066996e-01 -7.72663372e-03 7.71670265e+01] [-1.38062970e-01 9.90422892e-01 1.05463842e-03 -1.72761230e+00] [ 7.79824567e-03 2.22557487e-05 9.99969593e-01 -1.96719938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.20, Y:-1.73, Z:-1.97 [[ 9.90937546e-01 1.34056451e-01 -8.46447815e-03 7.71961067e+01] [-1.34051481e-01 9.90973697e-01 1.15440633e-03 -1.72821966e+00] [ 8.54283082e-03 -9.26874706e-06 9.99963509e-01 -1.96789667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.22, Y:-1.73, Z:-1.97 [[ 9.91505058e-01 1.29779137e-01 -8.66577856e-03 7.72237814e+01] [-1.29773771e-01 9.91542926e-01 1.18107450e-03 -1.72922075e+00] [ 8.74577025e-03 -4.64505850e-05 9.99961754e-01 -1.96887215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:-1.73, Z:-1.97 [[ 9.92595353e-01 1.21114688e-01 -9.25729275e-03 7.72526095e+01] [-1.21108188e-01 9.92638512e-01 1.26165614e-03 -1.72823711e+00] [ 9.34195039e-03 -1.31180071e-04 9.99956354e-01 -1.97033604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:-1.73, Z:-1.97 [[ 9.93125029e-01 1.16741246e-01 -8.61154084e-03 7.72817538e+01] [-1.16735461e-01 9.93162351e-01 1.17310821e-03 -1.72864989e+00] [ 8.68960826e-03 -1.59770936e-04 9.99962232e-01 -1.97108755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.31, Y:-1.73, Z:-1.97 [[ 9.93600319e-01 1.12718826e-01 -7.27139128e-03 7.73103163e+01] [-1.12714598e-01 9.93626911e-01 9.90002941e-04 -1.72990212e+00] [ 7.33664203e-03 -1.64075291e-04 9.99973073e-01 -1.97144730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:-1.73, Z:-1.97 [[ 9.93979274e-01 1.09390789e-01 -6.23356615e-03 7.73389178e+01] [-1.09387615e-01 9.93998807e-01 8.48912550e-04 -1.73262888e+00] [ 6.28902054e-03 -1.61926545e-04 9.99980211e-01 -1.97098448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.37, Y:-1.74, Z:-1.97 [[ 9.94551024e-01 1.04066022e-01 -6.20667105e-03 7.73680675e+01] [-1.04062772e-01 9.94570372e-01 8.45131552e-04 -1.73717071e+00] [ 6.26092061e-03 -1.94643054e-04 9.99980381e-01 -1.97013694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:-1.74, Z:-1.97 [[ 9.94685110e-01 1.02780633e-01 -6.13788341e-03 7.73961065e+01] [-1.02777434e-01 9.94704027e-01 8.35254513e-04 -1.74138447e+00] [ 6.19122533e-03 -1.99979322e-04 9.99980814e-01 -1.96953031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:77.43, Y:-1.74, Z:-1.97 [[ 9.94731698e-01 1.02238036e-01 -7.49884059e-03 7.74253112e+01] [-1.02233243e-01 9.94759932e-01 1.02073963e-03 -1.74349526e+00] [ 7.56390457e-03 -2.48731268e-04 9.99971362e-01 -1.97000957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:-1.74, Z:-1.97 [[ 9.94439315e-01 1.04951659e-01 -8.69472265e-03 7.74534884e+01] [-1.04945330e-01 9.94477290e-01 1.18224146e-03 -1.74341053e+00] [ 8.77078242e-03 -2.63196854e-04 9.99961501e-01 -1.97012929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.48, Y:-1.75, Z:-1.97 [[ 9.94209586e-01 1.07119752e-01 -8.52396638e-03 7.74823283e+01] [-1.07113751e-01 9.94246097e-01 1.15885115e-03 -1.74811721e+00] [ 8.59905616e-03 -2.39106914e-04 9.99962999e-01 -1.97128139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:-1.75, Z:-1.97 [[ 9.93953909e-01 1.09523454e-01 -7.76145423e-03 7.75107239e+01] [-1.09518555e-01 9.93984192e-01 1.05470842e-03 -1.75481155e+00] [ 7.83027812e-03 -1.98308303e-04 9.99969323e-01 -1.97244715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.54, Y:-1.76, Z:-1.97 [[ 9.93327316e-01 1.15188869e-01 -5.68927076e-03 7.75382328e+01] [-1.15186335e-01 9.93343602e-01 7.72199694e-04 -1.76112434e+00] [ 5.74034952e-03 -1.11720801e-04 9.99983518e-01 -1.97284228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.57, Y:-1.77, Z:-1.97 [[ 9.92966749e-01 1.18311823e-01 -4.39859522e-03 7.75664787e+01] [-1.18310340e-01 9.92976489e-01 5.96792010e-04 -1.76618912e+00] [ 4.43830918e-03 -7.21953261e-05 9.99990148e-01 -1.97118257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:-1.77, Z:-1.97 [[ 9.92618393e-01 1.21225069e-01 -3.63442894e-03 7.75955901e+01] [-1.21224075e-01 9.92625045e-01 4.93367843e-04 -1.77161653e+00] [ 3.66743374e-03 -4.91457097e-05 9.99993274e-01 -1.97082324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.62, Y:-1.78, Z:-1.97 [[ 9.91875893e-01 1.27145815e-01 -4.01932283e-03 7.76242166e+01] [-1.27144649e-01 9.91884036e-01 5.45252528e-04 -1.77669735e+00] [ 4.05602873e-03 -2.97874475e-05 9.99991774e-01 -1.97019433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.65, Y:-1.78, Z:-1.97 [[ 9.91880381e-01 1.27110796e-01 -4.01934051e-03 7.76532858e+01] [-1.27109631e-01 9.91888524e-01 5.45122313e-04 -1.78056069e+00] [ 4.05602866e-03 -2.97992404e-05 9.99991774e-01 -1.97087374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.68, Y:-1.78, Z:-1.97 [[ 9.91453565e-01 1.30365444e-01 -4.96794501e-03 7.76819840e+01] [-1.30363706e-01 9.91466011e-01 6.73428963e-04 -1.78491744e+00] [ 5.01334049e-03 -2.00338231e-05 9.99987433e-01 -1.97165541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.71, Y:-1.79, Z:-1.97 [[ 9.90468803e-01 1.37647655e-01 -4.96718264e-03 7.77086263e+01] [-1.37646012e-01 9.90481258e-01 6.72741292e-04 -1.79313278e+00] [ 5.01250257e-03 1.73836183e-05 9.99987437e-01 -1.97273103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-1.80, Z:-1.97 [[ 9.89960785e-01 1.41271283e-01 -4.47982696e-03 7.77368204e+01] [-1.41269984e-01 9.89970921e-01 6.06668792e-04 -1.79895067e+00] [ 4.52060330e-03 3.22867695e-05 9.99989781e-01 -1.97311812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.76, Y:-1.80, Z:-1.97 [[ 9.89420506e-01 1.45036225e-01 -3.39926928e-03 7.77643551e+01] [-1.45035501e-01 9.89426345e-01 4.59593790e-04 -1.80371308e+00] [ 3.42998433e-03 3.82832041e-05 9.99994117e-01 -1.97263965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:-1.81, Z:-1.97 [[ 9.88876559e-01 1.48727587e-01 -1.80447538e-03 7.77932794e+01] [-1.48727390e-01 9.88878205e-01 2.43471129e-04 -1.80860665e+00] [ 1.82061725e-03 2.76120214e-05 9.99998342e-01 -1.97289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-1.81, Z:-1.97 [[ 9.88329696e-01 1.52323680e-01 -1.38134235e-03 7.78214856e+01] [-1.52323568e-01 9.88330661e-01 1.86611631e-04 -1.81358495e+00] [ 1.39364836e-03 2.59771776e-05 9.99999029e-01 -1.97332862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-1.82, Z:-1.98 [[ 9.87342993e-01 1.58465547e-01 -6.51796273e-03 7.78490141e+01] [-1.58463177e-01 9.87364494e-01 8.81664327e-04 -1.81901265e+00] [ 6.57531839e-03 1.62351987e-04 9.99978369e-01 -1.97639560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.88, Y:-1.82, Z:-1.98 [[ 9.87024881e-01 1.60339364e-01 -8.55408820e-03 7.78773769e+01] [-1.60335350e-01 9.87061921e-01 1.15737755e-03 -1.82270649e+00] [ 8.62898791e-03 2.29162286e-04 9.99962743e-01 -1.97796914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.91, Y:-1.83, Z:-1.98 [[ 9.86856100e-01 1.61350189e-01 -9.00852490e-03 7.79063371e+01] [-1.61345783e-01 9.86897185e-01 1.21848262e-03 -1.82706437e+00] [ 9.08709027e-03 2.51020498e-04 9.99958680e-01 -1.97961260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:-1.83, Z:-1.98 [[ 9.86905204e-01 1.61094313e-01 -8.16948245e-03 7.79348147e+01] [-1.61090686e-01 9.86938991e-01 1.10444378e-03 -1.83463160e+00] [ 8.24070037e-03 2.26046219e-04 9.99966019e-01 -1.97948562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-1.84, Z:-1.98 [[ 9.87029387e-01 1.60311210e-01 -8.56182408e-03 7.79625264e+01] [-1.60307204e-01 9.87066493e-01 1.15658497e-03 -1.83990287e+00] [ 8.63650321e-03 2.30938732e-04 9.99962678e-01 -1.97929031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:-1.84, Z:-1.98 [[ 9.87124678e-01 1.59661658e-01 -9.64495308e-03 7.79906917e+01] [-1.59656542e-01 9.87171763e-01 1.30304075e-03 -1.84324717e+00] [ 9.72927098e-03 2.53616182e-04 9.99952637e-01 -1.97947739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-1.84, Z:-1.98 [[ 9.87235524e-01 1.58951214e-01 -1.00265148e-02 7.80184889e+01] [-1.58945657e-01 9.87286405e-01 1.35375473e-03 -1.84394563e+00] [ 1.01142227e-02 2.57196223e-04 9.99948817e-01 -1.97989855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-1.85, Z:-1.98 [[ 9.87371092e-01 1.58144715e-01 -9.41150591e-03 7.80458821e+01] [-1.58139788e-01 9.87415918e-01 1.27008659e-03 -1.84648895e+00] [ 9.49392822e-03 2.34286771e-04 9.99954904e-01 -1.98080921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:-1.85, Z:-1.98 [[ 9.87663862e-01 1.56411677e-01 -7.44874142e-03 7.80746534e+01] [-1.56408545e-01 9.87691934e-01 1.00487309e-03 -1.84966331e+00] [ 7.51423571e-03 1.72569964e-04 9.99971753e-01 -1.98089712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:-1.85, Z:-1.98 [[ 9.87775170e-01 1.55762245e-01 -6.19171799e-03 7.81036054e+01] [-1.55760071e-01 9.87794565e-01 8.34762877e-04 -1.85424008e+00] [ 6.24616992e-03 1.39864390e-04 9.99980483e-01 -1.98109375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-1.86, Z:-1.98 [[ 9.87884826e-01 1.55083225e-01 -5.72391966e-03 7.81314373e+01] [-1.55081360e-01 9.87901401e-01 7.70849864e-04 -1.85900077e+00] [ 5.77421413e-03 1.26162363e-04 9.99983321e-01 -1.98162976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.16, Y:-1.86, Z:-1.98 [[ 9.88035100e-01 1.54107472e-01 -6.12606966e-03 7.81602200e+01] [-1.54105316e-01 9.88054083e-01 8.25227293e-04 -1.86320289e+00] [ 6.18006183e-03 1.28706370e-04 9.99980895e-01 -1.98213428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.19, Y:-1.86, Z:-1.98 [[ 9.88387555e-01 1.51770842e-01 -7.46004478e-03 7.81888408e+01] [-1.51767582e-01 9.88415698e-01 1.00444892e-03 -1.86206739e+00] [ 7.52607143e-03 1.39408141e-04 9.99971669e-01 -1.98297246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.22, Y:-1.86, Z:-1.98 [[ 9.88553425e-01 1.50699728e-01 -7.19151020e-03 7.82180116e+01] [-1.50696671e-01 9.88579575e-01 9.68111105e-04 -1.86155004e+00] [ 7.25527418e-03 1.26707100e-04 9.99973672e-01 -1.98392845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:-1.86, Z:-1.98 [[ 9.88746249e-01 1.49469825e-01 -6.29491959e-03 7.82457070e+01] [-1.49467464e-01 9.88766282e-01 8.46601637e-04 -1.86180339e+00] [ 6.35074564e-03 1.03811474e-04 9.99979828e-01 -1.98443922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-1.86, Z:-1.98 [[ 9.89030810e-01 1.47617720e-01 -5.20238349e-03 7.82734994e+01] [-1.47616084e-01 9.89044490e-01 6.99123393e-04 -1.86414064e+00] [ 5.24859173e-03 7.65009029e-05 9.99986223e-01 -1.98499189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.30, Y:-1.87, Z:-1.99 [[ 9.89661449e-01 1.43285320e-01 -6.28748409e-03 7.83016355e+01] [-1.43282842e-01 9.89681420e-01 8.45190765e-04 -1.86759531e+00] [ 6.34370961e-03 6.44358717e-05 9.99979876e-01 -1.98577306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:-1.87, Z:-1.99 [[ 9.89938292e-01 1.41282681e-01 -7.83461806e-03 7.83306814e+01] [-1.41278771e-01 9.89969292e-01 1.05302321e-03 -1.87151208e+00] [ 7.90480524e-03 6.44372107e-05 9.99968754e-01 -1.98662972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.36, Y:-1.88, Z:-1.99 [[ 9.90331725e-01 1.38552714e-01 -6.79847392e-03 7.83595947e+01] [-1.38549709e-01 9.90355060e-01 9.13233938e-04 -1.87500455e+00] [ 6.85943409e-03 3.75220414e-05 9.99976473e-01 -1.98696003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:-1.88, Z:-1.99 [[ 9.90430202e-01 1.37883650e-01 -6.00948659e-03 7.83871965e+01] [-1.37881295e-01 9.90448433e-01 8.06438054e-04 -1.87698084e+00] [ 6.06328120e-03 2.98751857e-05 9.99981618e-01 -1.98758528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.42, Y:-1.88, Z:-1.99 [[ 9.90479741e-01 1.37512811e-01 -6.33318814e-03 7.84160182e+01] [-1.37510187e-01 9.90499988e-01 8.49980009e-04 -1.87846183e+00] [ 6.38990592e-03 2.89899086e-05 9.99979584e-01 -1.98772225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.44, Y:-1.88, Z:-1.99 [[ 9.90533499e-01 1.37112689e-01 -6.59525330e-03 7.84438979e+01] [-1.37109838e-01 9.90555455e-01 8.84514601e-04 -1.87986142e+00] [ 6.65424231e-03 2.81327718e-05 9.99977860e-01 -1.98834385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.47, Y:-1.88, Z:-1.99 [[ 9.90798439e-01 1.35179103e-01 -6.71292304e-03 7.84723568e+01] [-1.35176105e-01 9.90821180e-01 9.00298146e-04 -1.88075919e+00] [ 6.77300782e-03 1.54127957e-05 9.99977063e-01 -1.98936246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:-1.88, Z:-1.99 [[ 9.90997985e-01 1.33754133e-01 -5.72932935e-03 7.85010702e+01] [-1.33751929e-01 9.91014547e-01 7.67885474e-04 -1.88465909e+00] [ 5.78055658e-03 5.33589282e-06 9.99983292e-01 -1.99002865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-1.89, Z:-1.99 [[ 9.91260985e-01 1.31837190e-01 -4.54025103e-03 7.85288907e+01] [-1.31835790e-01 9.91271383e-01 6.07714370e-04 -1.88887073e+00] [ 4.58074027e-03 -3.83596455e-06 9.99989508e-01 -1.99083538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-1.90, Z:-1.99 [[ 9.91675020e-01 1.28663517e-01 -5.13363096e-03 7.85570858e+01] [-1.28661683e-01 9.91688307e-01 6.87352873e-04 -1.89605574e+00] [ 5.17939904e-03 -2.11290770e-05 9.99986587e-01 -1.99126407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:-1.90, Z:-1.99 [[ 9.91823809e-01 1.27477835e-01 -5.91037703e-03 7.85848321e+01] [-1.27475385e-01 9.91841419e-01 7.90878429e-04 -1.90045984e+00] [ 5.96297621e-03 -3.09844669e-05 9.99982221e-01 -1.99251680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.61, Y:-1.90, Z:-1.99 [[ 9.91868088e-01 1.27097766e-01 -6.62218791e-03 7.86134326e+01] [-1.27094681e-01 9.91890194e-01 8.86319323e-04 -1.90430448e+00] [ 6.68113246e-03 -3.74669903e-05 9.99977680e-01 -1.99333068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:-1.91, Z:-1.99 [[ 9.91881795e-01 1.27012459e-01 -6.19194700e-03 7.86421689e+01] [-1.27009763e-01 9.91901121e-01 8.28311267e-04 -1.90611231e+00] [ 6.24700502e-03 -3.51491471e-05 9.99980487e-01 -1.99423939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:-1.91, Z:-1.99 [[ 9.91864626e-01 1.27184753e-01 -5.34808459e-03 7.86706364e+01] [-1.27182747e-01 9.91879044e-01 7.14969001e-04 -1.90957113e+00] [ 5.39558619e-03 -2.89683740e-05 9.99985443e-01 -1.99466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:-1.91, Z:-1.99 [[ 9.91820954e-01 1.27541612e-01 -4.93279492e-03 7.86980512e+01] [-1.27539913e-01 9.91833220e-01 6.58765626e-04 -1.91445165e+00] [ 4.97652990e-03 -2.42493138e-05 9.99987617e-01 -1.99490982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.73, Y:-1.92, Z:-1.99 [[ 9.91667856e-01 1.28715491e-01 -5.21391711e-03 7.87266554e+01] [-1.28713608e-01 9.91681563e-01 6.96423247e-04 -1.92061481e+00] [ 5.26018593e-03 -1.95184646e-05 9.99986165e-01 -1.99479515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-1.92, Z:-2.00 [[ 9.91496423e-01 1.30031701e-01 -5.15751888e-03 7.87539850e+01] [-1.30029881e-01 9.91509837e-01 6.88126941e-04 -1.92284501e+00] [ 5.20320902e-03 -1.16438343e-05 9.99986463e-01 -1.99560080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.78, Y:-1.92, Z:-2.00 [[ 9.91201986e-01 1.32246766e-01 -5.42370650e-03 7.87832580e+01] [-1.32244785e-01 9.91216824e-01 7.23878947e-04 -1.92448196e+00] [ 5.47179978e-03 -2.53351209e-07 9.99985030e-01 -1.99560355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.81, Y:-1.93, Z:-2.00 [[ 9.90314957e-01 1.38832080e-01 -1.39239839e-03 7.88106421e+01] [-1.38831958e-01 9.90315936e-01 1.84629745e-04 -1.92709954e+00] [ 1.40454685e-03 1.04677969e-05 9.99999014e-01 -1.99567104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:-1.93, Z:-2.00 [[ 9.89738275e-01 1.42891849e-01 -2.55902253e-04 7.88388746e+01] [-1.42891846e-01 9.89738309e-01 3.30876399e-05 -1.93154505e+00] [ 2.58004217e-04 3.81824158e-06 9.99999967e-01 -1.99566670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.87, Y:-1.94, Z:-2.00 [[ 9.89107426e-01 1.47193356e-01 -7.84325313e-04 7.88674070e+01] [-1.47193321e-01 9.89107737e-01 1.03629471e-04 -1.93538724e+00] [ 7.91035805e-04 1.29467676e-05 9.99999687e-01 -1.99608286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:-1.94, Z:-2.00 [[ 9.88018634e-01 1.54308691e-01 -2.82952891e-03 7.88965653e+01] [-1.54308245e-01 9.88022684e-01 3.76574755e-04 -1.93582837e+00] [ 2.85374751e-03 6.45567664e-05 9.99995926e-01 -1.99786989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:-1.94, Z:-2.00 [[ 9.87675106e-01 1.56502346e-01 -2.21373127e-03 7.89247697e+01] [-1.56502080e-01 9.87677585e-01 2.93994872e-04 -1.93729947e+00] [ 2.23246365e-03 5.60821323e-05 9.99997506e-01 -1.99967078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.95, Y:-1.94, Z:-2.00 [[ 9.87421026e-01 1.58093687e-01 -2.47056462e-03 7.89538094e+01] [-1.58093360e-01 9.87424114e-01 3.28396796e-04 -1.93846279e+00] [ 2.49141254e-03 6.63139607e-05 9.99996894e-01 -2.00063769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.98, Y:-1.94, Z:-2.00 [[ 9.87292598e-01 1.58868427e-01 -3.76160579e-03 7.89823759e+01] [-1.58867675e-01 9.87299758e-01 4.99964176e-04 -1.93835986e+00] [ 3.79326101e-03 1.03986635e-04 9.99992800e-01 -2.00186683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.01, Y:-1.94, Z:-2.00 [[ 9.87266877e-01 1.59009202e-01 -4.49304407e-03 7.90120418e+01] [-1.59008127e-01 9.87277093e-01 5.97633761e-04 -1.93505725e+00] [ 4.53090875e-03 1.24406506e-04 9.99989728e-01 -2.00229083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:-1.94, Z:-2.00 [[ 9.87381890e-01 1.58311527e-01 -3.80322296e-03 7.90410643e+01] [-1.58310753e-01 9.87389209e-01 5.05501546e-04 -1.93794108e+00] [ 3.83528804e-03 1.02968021e-04 9.99992640e-01 -2.00250080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-1.94, Z:-2.00 [[ 9.87579748e-01 1.57090195e-01 -2.98516382e-03 7.90686933e+01] [-1.57089715e-01 9.87584257e-01 3.95956127e-04 -1.94075689e+00] [ 3.01030162e-03 7.79002818e-05 9.99995466e-01 -2.00276017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:-1.94, Z:-2.00 [[ 9.87892281e-01 1.55133577e-01 -1.55390780e-03 7.90973778e+01] [-1.55133445e-01 9.87893502e-01 2.05695436e-04 -1.94284200e+00] [ 1.56700569e-03 3.78581363e-05 9.99998772e-01 -2.00279019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-1.94, Z:-2.00 [[ 9.88889123e-01 1.48638552e-01 2.20964040e-03 7.91251824e+01] [-1.48638263e-01 9.88891591e-01 -2.95338532e-04 -1.94182044e+00] [-2.22899350e-03 -3.63800484e-05 9.99997515e-01 -2.00227790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.15, Y:-1.95, Z:-2.00 [[ 9.89567117e-01 1.44054668e-01 2.27431234e-03 7.91536349e+01] [-1.44054351e-01 9.89569731e-01 -3.03548926e-04 -1.94532911e+00] [-2.29431829e-03 -2.72425533e-05 9.99997368e-01 -2.00368662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:-1.95, Z:-2.01 [[ 9.91027918e-01 1.33654123e-01 4.91756564e-04 7.91832062e+01] [-1.33654106e-01 9.91028040e-01 -6.59476850e-05 -1.95110060e+00] [-4.96158723e-04 -3.69287115e-07 9.99999877e-01 -2.00690901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.21, Y:-1.96, Z:-2.01 [[ 9.91578192e-01 1.29493987e-01 1.99912144e-03 7.92099863e+01] [-1.29502083e-01 9.91568179e-01 4.66441321e-03 -1.95790604e+00] [-1.37825175e-03 -4.88402081e-03 9.99987123e-01 -2.00906148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:-1.96, Z:-2.01 [[ 9.92155344e-01 1.25001539e-01 -1.54564933e-03 7.92412800e+01] [-1.25007620e-01 9.92144119e-01 -4.81065572e-03 -1.95643014e+00] [ 9.32167524e-04 4.96613572e-03 9.99987234e-01 -2.00998986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:-1.96, Z:-2.01 [[ 9.92606101e-01 1.21365724e-01 -1.86768797e-03 7.92691275e+01] [-1.21365475e-01 9.92607858e-01 2.46930212e-04 -1.96497267e+00] [ 1.88385062e-03 -1.84315976e-05 9.99998225e-01 -2.01114585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.30, Y:-1.97, Z:-2.01 [[ 9.93111027e-01 1.17133148e-01 -3.21134845e-03 7.92966045e+01] [-1.17132384e-01 9.93116218e-01 4.25575737e-04 -1.97396557e+00] [ 3.23909126e-03 -4.64910563e-05 9.99994753e-01 -2.01140577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:-1.98, Z:-2.01 [[ 9.93173056e-01 1.16580633e-01 -4.02947603e-03 7.93246673e+01] [-1.16579427e-01 9.93181228e-01 5.33727019e-04 -1.97876567e+00] [ 4.06422218e-03 -6.03292884e-05 9.99991739e-01 -2.01127568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.35, Y:-1.98, Z:-2.01 [[ 9.93092332e-01 1.17208621e-01 -5.45528211e-03 7.93535734e+01] [-1.17206419e-01 9.93107312e-01 7.22722978e-04 -1.98262017e+00] [ 5.50238991e-03 -7.83365656e-05 9.99984859e-01 -2.01179567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.38, Y:-1.99, Z:-2.01 [[ 9.92640803e-01 1.20856991e-01 -7.60422591e-03 7.93805818e+01] [-1.20852822e-01 9.92669926e-01 1.00711782e-03 -1.98671996e+00] [ 7.67020360e-03 -8.07140880e-05 9.99970580e-01 -2.01320772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:-1.99, Z:-2.01 [[ 9.92265103e-01 1.23980183e-01 -6.23528534e-03 7.94078234e+01] [-1.23977446e-01 9.92284693e-01 8.25021379e-04 -1.99205504e+00] [ 6.28946450e-03 -4.56051718e-05 9.99980220e-01 -2.01357283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.44, Y:-2.00, Z:-2.01 [[ 9.92269487e-01 1.23945101e-01 -6.23522177e-03 7.94369042e+01] [-1.23942360e-01 9.92289076e-01 8.25500745e-04 -1.99582402e+00] [ 6.28945922e-03 -4.63110984e-05 9.99980220e-01 -2.01425166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:-2.00, Z:-2.01 [[ 9.91824180e-01 1.27520353e-01 -4.83271181e-03 7.94651643e+01] [-1.27518753e-01 9.91835954e-01 6.39058653e-04 -2.00127880e+00] [ 4.87475031e-03 -1.75724400e-05 9.99988118e-01 -2.01403584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:-2.01, Z:-2.01 [[ 9.90703725e-01 1.35957283e-01 -4.66335974e-03 7.94926708e+01] [-1.35955890e-01 9.90714700e-01 6.16051678e-04 -2.00660803e+00] [ 4.70381576e-03 2.36865296e-05 9.99988937e-01 -2.01325849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.52, Y:-2.01, Z:-2.01 [[ 9.89982241e-01 1.41121077e-01 -4.47251162e-03 7.95214386e+01] [-1.41119847e-01 9.89992343e-01 5.90923559e-04 -2.00967151e+00] [ 4.51114402e-03 4.61563274e-05 9.99989824e-01 -2.01348844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:-2.01, Z:-2.01 [[ 9.89199671e-01 1.46546617e-01 -2.84609064e-03 7.95501658e+01] [-1.46546143e-01 9.89203764e-01 3.75479246e-04 -2.01197527e+00] [ 2.87038878e-03 4.56596602e-05 9.99995879e-01 -2.01415975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-2.01, Z:-2.01 [[ 9.87655647e-01 1.56635343e-01 -1.30073711e-03 7.95791556e+01] [-1.56635254e-01 9.87656503e-01 1.70943301e-04 -2.01081097e+00] [ 1.31145722e-03 3.49081698e-05 9.99999139e-01 -2.01400645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:-2.01, Z:-2.01 [[ 9.86937395e-01 1.61099330e-01 -1.25866409e-03 7.96067915e+01] [-1.61099250e-01 9.86938197e-01 1.65042323e-04 -2.01225158e+00] [ 1.26881187e-03 3.98834004e-05 9.99999194e-01 -2.01487998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.64, Y:-2.02, Z:-2.02 [[ 9.86316409e-01 1.64862015e-01 -6.76469369e-04 7.96356800e+01] [-1.64861993e-01 9.86316641e-01 8.83105205e-05 -2.01527899e+00] [ 6.81772045e-04 2.44219729e-05 9.99999767e-01 -2.01617533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.66, Y:-2.02, Z:-2.02 [[ 9.85739751e-01 1.68276761e-01 -2.72771356e-04 7.96633177e+01] [-1.68276758e-01 9.85739789e-01 3.46781045e-05 -2.01947189e+00] [ 2.74717098e-04 1.17174934e-05 9.99999962e-01 -2.01712371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:-2.02, Z:-2.02 [[ 9.84680846e-01 1.74364849e-01 -7.28273498e-04 7.96916560e+01] [-1.74364827e-01 9.84681115e-01 9.45510379e-05 -2.02195704e+00] [ 7.33603537e-04 3.38826865e-05 9.99999730e-01 -2.01825872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.72, Y:-2.02, Z:-2.02 [[ 9.84276887e-01 1.76632236e-01 2.50036762e-04 7.97201870e+01] [-1.76632233e-01 9.84276919e-01 -3.46004596e-05 -2.02250271e+00] [-2.52216970e-04 -1.01081189e-05 9.99999968e-01 -2.01831207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.75, Y:-2.02, Z:-2.02 [[ 9.83920144e-01 1.78596363e-01 2.11904462e-03 7.97486714e+01] [-1.78596171e-01 9.83922420e-01 -2.81094654e-04 -2.02225318e+00] [-2.13517800e-03 -1.01878563e-04 9.99997715e-01 -2.01768646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:79.78, Y:-2.02, Z:-2.02 [[ 9.83556340e-01 1.80567247e-01 3.52073963e-03 7.97765647e+01] [-1.80566732e-01 9.83562625e-01 -4.66352604e-04 -2.01556216e+00] [-3.54707592e-03 -1.77044389e-04 9.99993693e-01 -2.01706337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:-2.01, Z:-2.02 [[ 9.83650991e-01 1.80072835e-01 2.12182132e-03 7.98047629e+01] [-1.80072646e-01 9.83653274e-01 -2.81106492e-04 -2.01430158e+00] [-2.13775613e-03 -1.05571300e-04 9.99997709e-01 -2.01864817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.83, Y:-2.01, Z:-2.02 [[ 9.84759061e-01 1.73924068e-01 1.04956914e-04 7.98332086e+01] [-1.73924067e-01 9.84759066e-01 -1.54758345e-05 -2.01077797e+00] [-1.06048893e-04 -3.01456517e-06 9.99999994e-01 -2.02184272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.86, Y:-2.01, Z:-2.02 [[ 9.85756890e-01 1.68174318e-01 8.67494885e-04 7.98614235e+01] [-1.68174281e-01 9.85757271e-01 -1.15806831e-04 -2.01169468e+00] [-8.74615126e-04 -3.17329466e-05 9.99999617e-01 -2.02327928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.89, Y:-2.01, Z:-2.02 [[ 9.86920527e-01 1.61189653e-01 2.40199862e-03 7.98902220e+01] [-1.61189358e-01 9.86923447e-01 -3.17071970e-04 -2.01430421e+00] [-2.42169748e-03 -7.42517799e-05 9.99997065e-01 -2.02411001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.92, Y:-2.02, Z:-2.02 [[ 9.88143453e-01 1.53501813e-01 3.11613327e-03 7.99181636e+01] [-1.53501280e-01 9.88148363e-01 -4.10839539e-04 -2.01839705e+00] [-3.14226660e-03 -7.23620465e-05 9.99995060e-01 -2.02400887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:-2.02, Z:-2.02 [[ 9.90370898e-01 1.38414081e-01 2.65084408e-03 7.99465190e+01] [-1.38413641e-01 9.90374445e-01 -3.49863993e-04 -2.01897094e+00] [-2.67375434e-03 -2.04178627e-05 9.99996425e-01 -2.02344528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:-2.02, Z:-2.02 [[ 9.91290975e-01 1.31669524e-01 2.31081240e-03 7.99756637e+01] [-1.31669171e-01 9.91293668e-01 -3.04686770e-04 -2.01952273e+00] [-2.33081166e-03 -2.22950799e-06 9.99997284e-01 -2.02424683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.00, Y:-2.02, Z:-2.03 [[ 9.92856878e-01 1.19290753e-01 2.22191861e-03 8.00034996e+01] [-1.19290396e-01 9.92859363e-01 -2.93143337e-04 -2.02407814e+00] [-2.24102198e-03 2.59958287e-05 9.99997489e-01 -2.02683461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.03, Y:-2.03, Z:-2.03 [[ 9.93471639e-01 1.14073135e-01 1.19245598e-03 8.00307626e+01] [-1.14073028e-01 9.93472355e-01 -1.57851519e-04 -2.03268078e+00] [-1.20267867e-03 2.07939435e-05 9.99999277e-01 -2.02853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-2.04, Z:-2.03 [[ 9.93991741e-01 1.09454948e-01 -1.80198499e-04 8.00588740e+01] [-1.09454945e-01 9.93991758e-01 2.25111221e-05 -2.04108456e+00] [ 1.81579776e-04 -2.65225259e-06 9.99999984e-01 -2.02964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.09, Y:-2.05, Z:-2.03 [[ 9.94368513e-01 1.05972667e-01 -1.02664739e-03 8.00861595e+01] [-1.05972586e-01 9.94369043e-01 1.33218825e-04 -2.04596323e+00] [ 1.03498394e-03 -2.36721254e-05 9.99999464e-01 -2.03005287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.12, Y:-2.05, Z:-2.03 [[ 9.94764073e-01 1.02184318e-01 -1.67455289e-03 8.01155080e+01] [-1.02184095e-01 9.94765481e-01 2.18367595e-04 -2.04688723e+00] [ 1.68810116e-03 -4.61115658e-05 9.99998574e-01 -2.03072901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:-2.05, Z:-2.03 [[ 9.94809205e-01 1.01720824e-01 -2.74226300e-03 8.01439849e+01] [-1.01720222e-01 9.94812981e-01 3.58187970e-04 -2.05105882e+00] [ 2.76447401e-03 -7.73850868e-05 9.99996176e-01 -2.03176450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:-2.06, Z:-2.03 [[ 9.94738058e-01 1.02377840e-01 -3.86972839e-03 8.01727145e+01] [-1.02376647e-01 9.94745579e-01 5.05730672e-04 -2.05710279e+00] [ 3.90117082e-03 -1.06899731e-04 9.99992385e-01 -2.03266264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:-2.06, Z:-2.03 [[ 9.94603038e-01 1.03657258e-01 -4.46865834e-03 8.02009663e+01] [-1.03655680e-01 9.94613070e-01 5.83948754e-04 -2.06355726e+00] [ 4.50511651e-03 -1.17595385e-04 9.99989845e-01 -2.03401318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:80.23, Y:-2.07, Z:-2.03 [[ 9.94159567e-01 1.07850420e-01 -3.87833683e-03 8.02275972e+01] [-1.07849265e-01 9.94167129e-01 5.06143998e-04 -2.07211652e+00] [ 3.91030283e-03 -8.49121202e-05 9.99992351e-01 -2.03337253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:-2.08, Z:-2.03 [[ 9.93887420e-01 1.10362733e-01 -2.80427148e-03 8.02554065e+01] [-1.10362141e-01 9.93891375e-01 3.65416929e-04 -2.07755546e+00] [ 2.82746965e-03 -5.36978851e-05 9.99996001e-01 -2.03463989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:-2.08, Z:-2.04 [[ 9.93525328e-01 1.13579572e-01 -2.66514884e-03 8.02839874e+01] [-1.13579048e-01 9.93528902e-01 3.47349870e-04 -2.08226759e+00] [ 2.68735425e-03 -4.23958253e-05 9.99996388e-01 -2.03517876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.31, Y:-2.09, Z:-2.04 [[ 9.92636868e-01 1.21121900e-01 -1.23825086e-03 8.03111084e+01] [-1.21121794e-01 9.92637640e-01 1.60420459e-04 -2.08664541e+00] [ 1.24856484e-03 -9.26009562e-06 9.99999220e-01 -2.03609040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.34, Y:-2.09, Z:-2.04 [[ 9.92214287e-01 1.24541645e-01 -4.32277761e-04 8.03383230e+01] [-1.24541632e-01 9.92214381e-01 5.50949494e-05 -2.09200240e+00] [ 4.35773827e-04 -8.29417987e-07 9.99999905e-01 -2.03635240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:-2.10, Z:-2.04 [[ 9.91534029e-01 1.29845057e-01 7.27719222e-04 8.03658695e+01] [-1.29845022e-01 9.91534296e-01 -9.61256065e-05 -2.10117669e+00] [-7.34040002e-04 8.21091513e-07 9.99999731e-01 -2.03551715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:-2.11, Z:-2.04 [[ 9.91227757e-01 1.32150089e-01 1.97168747e-03 8.03942223e+01] [-1.32149836e-01 9.91229718e-01 -2.58522690e-04 -2.10793609e+00] [-1.98855901e-03 -4.30330885e-06 9.99998023e-01 -2.03561272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.42, Y:-2.11, Z:-2.04 [[ 9.90870330e-01 1.34793693e-01 2.57871885e-03 8.04214270e+01] [-1.34793270e-01 9.90873685e-01 -3.37881424e-04 -2.11379842e+00] [-2.60072893e-03 -1.27972687e-05 9.99996618e-01 -2.03628737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:-2.12, Z:-2.04 [[ 9.90464949e-01 1.37755124e-01 1.64634863e-03 8.04498122e+01] [-1.37754955e-01 9.90466317e-01 -2.15885782e-04 -2.11808371e+00] [-1.66039224e-03 -1.29653811e-05 9.99998621e-01 -2.03679122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.48, Y:-2.12, Z:-2.04 [[ 9.89415234e-01 1.45107932e-01 1.08718923e-03 8.04775387e+01] [-1.45107862e-01 9.89415832e-01 -1.43167366e-04 -2.11867355e+00] [-1.09645695e-03 -1.61077313e-05 9.99999399e-01 -2.03780651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:-2.12, Z:-2.04 [[ 9.88891628e-01 1.48629750e-01 1.59542235e-03 8.05064805e+01] [-1.48629606e-01 9.88892915e-01 -2.09030154e-04 -2.12172105e+00] [-1.60876996e-03 -3.04188261e-05 9.99998705e-01 -2.03826594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.13, Z:-2.04 [[ 9.88017342e-01 1.54338176e-01 1.20797903e-03 8.05350410e+01] [-1.54338098e-01 9.88018080e-01 -1.58488808e-04 -2.12545129e+00] [-1.21796599e-03 -2.98474944e-05 9.99999258e-01 -2.03956592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.56, Y:-2.13, Z:-2.04 [[ 9.87744836e-01 1.56077323e-01 8.74592009e-05 8.05625087e+01] [-1.56077322e-01 9.87744840e-01 -1.28999192e-05 -2.12901691e+00] [-8.84007594e-05 -9.08569332e-07 9.99999996e-01 -2.04051415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.59, Y:-2.13, Z:-2.04 [[ 9.87613593e-01 1.56903666e-01 -7.93772749e-04 8.05910581e+01] [-1.56903635e-01 9.87613912e-01 1.02214016e-04 -2.13256313e+00] [ 7.99978764e-04 2.35978780e-05 9.99999680e-01 -2.04185455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:-2.14, Z:-2.04 [[ 9.87582293e-01 1.57101129e-01 -6.70027202e-04 8.06190509e+01] [-1.57101107e-01 9.87582520e-01 8.56911894e-05 -2.13629296e+00] [ 6.75169336e-04 2.06349140e-05 9.99999772e-01 -2.04266228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:-2.14, Z:-2.04 [[ 9.87838323e-01 1.55475197e-01 1.70603721e-03 8.06474395e+01] [-1.55475044e-01 9.87839795e-01 -2.22954016e-04 -2.13933031e+00] [-1.71995526e-03 -4.50036879e-05 9.99998520e-01 -2.04234066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-2.14, Z:-2.04 [[ 9.88070180e-01 1.53985713e-01 2.39150100e-03 8.06765911e+01] [-1.53985409e-01 9.88073073e-01 -3.11757839e-04 -2.14088897e+00] [-2.41098399e-03 -6.02176351e-05 9.99997092e-01 -2.04262267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:-2.14, Z:-2.04 [[ 9.88315035e-01 1.52416185e-01 1.64268919e-03 8.07058944e+01] [-1.52416038e-01 9.88316399e-01 -2.14622006e-04 -2.14171951e+00] [-1.65620853e-03 -3.82580236e-05 9.99998628e-01 -2.04309663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:-2.14, Z:-2.04 [[ 9.88829886e-01 1.49046723e-01 7.28227983e-04 8.07336253e+01] [-1.49046693e-01 9.88830154e-01 -9.57397578e-05 -2.14185471e+00] [-7.34363487e-04 -1.38696391e-05 9.99999730e-01 -2.04417427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.76, Y:-2.15, Z:-2.04 [[ 9.89121014e-01 1.47101680e-01 8.45389721e-04 8.07623823e+01] [-1.47101639e-01 9.89121376e-01 -1.10897228e-04 -2.14534893e+00] [-8.52506213e-04 -1.46674348e-05 9.99999637e-01 -2.04475376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:-2.15, Z:-2.05 [[ 9.89662791e-01 1.43413846e-01 1.67247164e-04 8.07899636e+01] [-1.43413844e-01 9.89662806e-01 -2.30965923e-05 -2.14750580e+00] [-1.68830669e-04 -1.12772077e-06 9.99999986e-01 -2.04611251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-2.15, Z:-2.05 [[ 9.89919719e-01 1.41629220e-01 -3.37438629e-04 8.08181652e+01] [-1.41629214e-01 9.89919776e-01 4.26454813e-05 -2.15078900e+00] [ 3.40077019e-04 5.57556506e-06 9.99999942e-01 -2.04641463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-2.15, Z:-2.05 [[ 9.90219407e-01 1.39518627e-01 -2.81504638e-04 8.08472595e+01] [-1.39518622e-01 9.90219447e-01 3.53754457e-05 -2.15368160e+00] [ 2.83686900e-04 4.24568633e-06 9.99999960e-01 -2.04688810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:-2.16, Z:-2.05 [[ 9.90524053e-01 1.37338518e-01 4.82502366e-04 8.08757276e+01] [-1.37338503e-01 9.90524170e-01 -6.36869034e-05 -2.15667666e+00] [-4.86676920e-04 -3.18274309e-06 9.99999882e-01 -2.04719044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.90, Y:-2.16, Z:-2.05 [[ 9.91231171e-01 1.32133552e-01 1.22040680e-03 8.09035587e+01] [-1.32133456e-01 9.91231923e-01 -1.59549974e-04 -2.16019363e+00] [-1.23078809e-03 -3.10566021e-06 9.99999243e-01 -2.04731107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324203822 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:80.93, Y:-2.16, Z:-2.05 [[ 9.91613181e-01 1.29232187e-01 1.52971913e-03 8.09319656e+01] [-1.29232034e-01 9.91614361e-01 -1.99273424e-04 -2.16467049e+00] [-1.54264400e-03 -8.65603160e-08 9.99998810e-01 -2.04734714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-2.17, Z:-2.05 [[ 9.91970144e-01 1.26467635e-01 1.08212214e-03 8.09597029e+01] [-1.26467556e-01 9.91970734e-01 -1.41498423e-04 -2.17026062e+00] [-1.09132846e-03 3.50886942e-06 9.99999404e-01 -2.04821886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:-2.18, Z:-2.05 [[ 9.92529278e-01 1.22002926e-01 9.58576780e-04 8.09884841e+01] [-1.22002862e-01 9.92529741e-01 -1.25172168e-04 -2.17507232e+00] [-9.66687334e-04 7.28793130e-06 9.99999533e-01 -2.04770526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:-2.18, Z:-2.05 [[ 9.92723283e-01 1.20398595e-01 2.15891966e-03 8.10172326e+01] [-1.20398270e-01 9.92725631e-01 -2.80417159e-04 -2.17857314e+00] [-2.17697672e-03 1.84464509e-05 9.99997630e-01 -2.04811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:-2.18, Z:-2.05 [[ 9.92882847e-01 1.19065555e-01 2.65442597e-03 8.10462747e+01] [-1.19065061e-01 9.92886395e-01 -3.43909159e-04 -2.18333776e+00] [-2.67649117e-03 2.54121138e-05 9.99996418e-01 -2.04903782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:81.07, Y:-2.19, Z:-2.05 [[ 9.93179828e-01 1.16589734e-01 -8.14925183e-04 8.10747500e+01] [-1.16589687e-01 9.93180162e-01 1.05132078e-04 -2.19243554e+00] [ 8.21624846e-04 -9.40318667e-06 9.99999662e-01 -2.05045448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:-2.20, Z:-2.05 [[ 9.93324027e-01 1.15341848e-01 -1.90675515e-03 8.11026460e+01] [-1.15341588e-01 9.93325857e-01 2.46000756e-04 -2.20013791e+00] [ 1.92240338e-03 -2.44302941e-05 9.99998152e-01 -2.05256626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:-2.21, Z:-2.05 [[ 9.93438593e-01 1.14360435e-01 -1.20540395e-03 8.11313989e+01] [-1.14360331e-01 9.93439324e-01 1.54749936e-04 -2.20611804e+00] [ 1.21519296e-03 -1.58841631e-05 9.99999262e-01 -2.05350828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.16, Y:-2.21, Z:-2.05 [[ 9.93420522e-01 1.14523618e-01 -8.97067544e-05 8.11598230e+01] [-1.14523618e-01 9.93420526e-01 1.10245041e-05 -2.21227997e+00] [ 9.03790971e-05 -6.78426587e-07 9.99999996e-01 -2.05256876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:-2.22, Z:-2.05 [[ 9.93255937e-01 1.15939441e-01 -8.30806614e-04 8.11892120e+01] [-1.15939392e-01 9.93256284e-01 1.06828989e-04 -2.21753100e+00] [ 8.37589584e-04 -9.78531385e-06 9.99999649e-01 -2.05228099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.22, Y:-2.22, Z:-2.05 [[ 9.92702952e-01 1.20566439e-01 -2.14086195e-03 8.12162579e+01] [-1.20566126e-01 9.92705260e-01 2.75202321e-04 -2.22190762e+00] [ 2.15842508e-03 -1.50787255e-05 9.99997670e-01 -2.05298782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:-2.23, Z:-2.05 [[ 9.92711588e-01 1.20495307e-01 -2.14092607e-03 8.12453522e+01] [-1.20494995e-01 9.92713897e-01 2.74705401e-04 -2.22555491e+00] [ 2.15842777e-03 -1.47323588e-05 9.99997670e-01 -2.05366661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:-2.23, Z:-2.06 [[ 9.92350049e-01 1.23442402e-01 -1.83136137e-03 8.12742807e+01] [-1.23442178e-01 9.92351739e-01 2.35279580e-04 -2.22901176e+00] [ 1.84639811e-03 -7.41246690e-06 9.99998295e-01 -2.05521963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:-2.23, Z:-2.06 [[ 9.92009146e-01 1.26164642e-01 -5.81307174e-04 8.13026343e+01] [-1.26164620e-01 9.92009316e-01 7.39407642e-05 -2.23289892e+00] [ 5.85990842e-04 -9.51543510e-09 9.99999828e-01 -2.05649199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:-2.24, Z:-2.06 [[ 9.91683757e-01 1.28696329e-01 7.61941467e-04 8.13313123e+01] [-1.28696291e-01 9.91684050e-01 -9.93050651e-05 -2.23739432e+00] [-7.68385397e-04 4.20179569e-07 9.99999705e-01 -2.05634516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:-2.24, Z:-2.06 [[ 9.91138546e-01 1.32816811e-01 2.01938318e-03 8.13589144e+01] [-1.32816554e-01 9.91140603e-01 -2.61604528e-04 -2.24213861e+00] [-2.03623814e-03 -8.92118204e-06 9.99997927e-01 -2.05524320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:-2.25, Z:-2.06 [[ 9.90942619e-01 1.34281635e-01 1.08101601e-03 8.13877531e+01] [-1.34281562e-01 9.90943208e-01 -1.40081135e-04 -2.24575385e+00] [-1.09003580e-03 -6.34815233e-06 9.99999406e-01 -2.05645945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.42, Y:-2.25, Z:-2.06 [[ 9.90794725e-01 1.35369699e-01 -9.26214824e-04 8.14162706e+01] [-1.35369648e-01 9.90795158e-01 1.18287007e-04 -2.24941427e+00] [ 9.33701639e-04 8.18323226e-06 9.99999564e-01 -2.05800142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:-2.25, Z:-2.06 [[ 9.90714862e-01 1.35942349e-01 -1.93379971e-03 8.14440136e+01] [-1.35942124e-01 9.90716749e-01 2.47722405e-04 -2.25296876e+00] [ 1.94952373e-03 1.74625715e-05 9.99998100e-01 -2.05951788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:-2.25, Z:-2.06 [[ 9.90708647e-01 1.35995241e-01 -1.29296028e-03 8.14720971e+01] [-1.35995141e-01 9.90709490e-01 1.65036183e-04 -2.25450614e+00] [ 1.30339215e-03 1.23335424e-05 9.99999151e-01 -2.05982376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:-2.26, Z:-2.06 [[ 9.90795585e-01 1.35362231e-01 -1.08363051e-03 8.15012183e+01] [-1.35362161e-01 9.90796178e-01 1.38406862e-04 -2.25719878e+00] [ 1.09239203e-03 9.54966005e-06 9.99999403e-01 -2.06011231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.53, Y:-2.26, Z:-2.06 [[ 9.91075164e-01 1.33298039e-01 -1.28535020e-03 8.15281422e+01] [-1.33297939e-01 9.91075997e-01 1.64044056e-04 -2.26272225e+00] [ 1.29574648e-03 8.75454230e-06 9.99999160e-01 -2.06171141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:-2.27, Z:-2.06 [[ 9.91149984e-01 1.32739980e-01 -1.34405896e-03 8.15571600e+01] [-1.32739869e-01 9.91150896e-01 1.71791154e-04 -2.26691460e+00] [ 1.35496879e-03 8.13941022e-06 9.99999082e-01 -2.06188915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.59, Y:-2.27, Z:-2.06 [[ 9.91181437e-01 1.32508752e-01 -8.89113384e-04 8.15854220e+01] [-1.32508703e-01 9.91181835e-01 1.13266176e-04 -2.27023581e+00] [ 8.96281795e-04 5.54793015e-06 9.99999598e-01 -2.06208538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.61, Y:-2.27, Z:-2.06 [[ 9.91272616e-01 1.31827568e-01 3.05410113e-04 8.16133236e+01] [-1.31827562e-01 9.91272663e-01 -4.04796150e-05 -2.27447691e+00] [-3.08081025e-04 -1.35136777e-07 9.99999953e-01 -2.06152012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.28, Z:-2.06 [[ 9.91337453e-01 1.31337272e-01 7.58434099e-04 8.16426234e+01] [-1.31337235e-01 9.91337743e-01 -9.79902739e-05 -2.27987658e+00] [-7.64734123e-04 -2.46920905e-06 9.99999708e-01 -2.06196828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.67, Y:-2.29, Z:-2.06 [[ 9.91371858e-01 1.31078714e-01 4.57675213e-04 8.16715148e+01] [-1.31078701e-01 9.91371964e-01 -5.90636659e-05 -2.28500113e+00] [-4.61468364e-04 -1.43741592e-06 9.99999894e-01 -2.06303882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.29, Z:-2.07 [[ 9.91484478e-01 1.30200365e-01 -2.52887386e-03 8.17004544e+01] [-1.30199961e-01 9.91487703e-01 3.24456627e-04 -2.28942501e+00] [ 2.54959170e-03 7.56556822e-06 9.99996750e-01 -2.06553217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.73, Y:-2.29, Z:-2.07 [[ 9.91524489e-01 1.29879310e-01 -3.24842469e-03 8.17296178e+01] [-1.29878645e-01 9.91529810e-01 4.15833078e-04 -2.29219933e+00] [ 3.27491803e-03 9.59231683e-06 9.99994637e-01 -2.06634963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.76, Y:-2.29, Z:-2.07 [[ 9.91555543e-01 1.29655730e-01 -2.64520024e-03 8.17571300e+01] [-1.29655290e-01 9.91559071e-01 3.37955114e-04 -2.29476826e+00] [ 2.66669011e-03 7.86293908e-06 9.99996444e-01 -2.06727224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:-2.30, Z:-2.07 [[ 9.91565775e-01 1.29598569e-01 -1.23468301e-03 8.17856212e+01] [-1.29598473e-01 9.91566544e-01 1.57207796e-04 -2.29873346e+00] [ 1.24464427e-03 4.13116246e-06 9.99999225e-01 -2.06826787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.82, Y:-2.31, Z:-2.07 [[ 9.91570983e-01 1.29555877e-01 -1.50322813e-03 8.18150465e+01] [-1.29555734e-01 9.91572123e-01 1.92185772e-04 -2.30591600e+00] [ 1.51545790e-03 4.18598937e-06 9.99998852e-01 -2.06764600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.84, Y:-2.31, Z:-2.07 [[ 9.91603915e-01 1.29289554e-01 -2.42645038e-03 8.18445808e+01] [-1.29289182e-01 9.91606883e-01 3.10509925e-04 -2.31092138e+00] [ 2.44623059e-03 5.81092658e-06 9.99997008e-01 -2.06789217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.87, Y:-2.31, Z:-2.07 [[ 9.91676961e-01 1.28713447e-01 -3.10702445e-03 8.18731350e+01] [-1.28712833e-01 9.91681828e-01 3.97642185e-04 -2.31447107e+00] [ 3.13236158e-03 5.58132582e-06 9.99995094e-01 -2.06861126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.90, Y:-2.32, Z:-2.07 [[ 9.91816259e-01 1.27581941e-01 -4.83279014e-03 8.19014508e+01] [-1.27580444e-01 9.91828034e-01 6.18063491e-04 -2.31838997e+00] [ 4.87215048e-03 3.56409368e-06 9.99988131e-01 -2.07060651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:-2.32, Z:-2.07 [[ 9.91875346e-01 1.27134212e-01 -4.49334616e-03 8.19303375e+01] [-1.27132914e-01 9.91885524e-01 5.74338042e-04 -2.32342704e+00] [ 4.52990303e-03 1.58044917e-06 9.99989740e-01 -2.07170293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:-2.33, Z:-2.07 [[ 9.91939600e-01 1.26702328e-01 -1.53298841e-03 8.19588990e+01] [-1.26702177e-01 9.91940785e-01 1.95094125e-04 -2.33099127e+00] [ 1.54535261e-03 7.11381140e-07 9.99998806e-01 -2.07055564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:-2.34, Z:-2.07 [[ 9.91876478e-01 1.27204745e-01 7.23168050e-05 8.19870688e+01] [-1.27204745e-01 9.91876481e-01 -1.01235314e-05 -2.33590377e+00] [-7.30170994e-05 8.42251943e-07 9.99999997e-01 -2.06950093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.02, Y:-2.34, Z:-2.07 [[ 9.91567838e-01 1.29585376e-01 9.24066495e-04 8.20166825e+01] [-1.29585321e-01 9.91568268e-01 -1.18769249e-04 -2.34195622e+00] [-9.31665772e-04 -1.97768588e-06 9.99999566e-01 -2.06924605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:-2.35, Z:-2.07 [[ 9.91351507e-01 1.31233311e-01 -8.53184075e-05 8.20465034e+01] [-1.31233311e-01 9.91351511e-01 1.03433641e-05 -2.34616905e+00] [ 8.59379260e-05 9.42707489e-07 9.99999996e-01 -2.06989816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.07, Y:-2.35, Z:-2.07 [[ 9.91084966e-01 1.33225982e-01 -1.19514271e-03 8.20748468e+01] [-1.33225895e-01 9.91085686e-01 1.52008192e-04 -2.34958306e+00] [ 1.20474027e-03 8.57092387e-06 9.99999274e-01 -2.07088477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:-2.35, Z:-2.07 [[ 9.90793473e-01 1.35364451e-01 -2.18143308e-03 8.21047739e+01] [-1.35364166e-01 9.90795875e-01 2.78393359e-04 -2.35273815e+00] [ 2.19903946e-03 1.94575474e-05 9.99997582e-01 -2.07243186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.13, Y:-2.36, Z:-2.07 [[ 9.90269374e-01 1.39139001e-01 -2.62781715e-03 8.21328034e+01] [-1.39138603e-01 9.90272860e-01 3.34350967e-04 -2.35607124e+00] [ 2.64877726e-03 3.45332844e-05 9.99996491e-01 -2.07473041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:-2.36, Z:-2.08 [[ 9.90091573e-01 1.40372062e-01 -3.78952547e-03 8.21606457e+01] [-1.40371243e-01 9.90098824e-01 4.82641858e-04 -2.35939781e+00] [ 3.81975415e-03 5.40807640e-05 9.99992703e-01 -2.07554465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:82.19, Y:-2.36, Z:-2.08 [[ 9.89794718e-01 1.42418280e-01 -4.84254522e-03 8.21895678e+01] [-1.42416963e-01 9.89806561e-01 6.17302563e-04 -2.36020992e+00] [ 4.88109820e-03 7.86577694e-05 9.99988084e-01 -2.07628342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.22, Y:-2.36, Z:-2.08 [[ 9.89679886e-01 1.43227110e-01 -4.44056772e-03 8.22185507e+01] [-1.43226013e-01 9.89689845e-01 5.65722520e-04 -2.36333112e+00] [ 4.47581158e-03 7.61206121e-05 9.99989981e-01 -2.07741014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:-2.37, Z:-2.08 [[ 9.89600009e-01 1.43804318e-01 -3.48428011e-03 8.22455781e+01] [-1.43803649e-01 9.89606141e-01 4.43169961e-04 -2.36795680e+00] [ 3.51179475e-03 6.24911957e-05 9.99993832e-01 -2.07835607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:-2.37, Z:-2.08 [[ 9.89566559e-01 1.44042946e-01 -3.10716887e-03 8.22739114e+01] [-1.44042415e-01 9.89571436e-01 3.95135594e-04 -2.37417477e+00] [ 3.13168205e-03 5.65511381e-05 9.99995095e-01 -2.07675982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:82.30, Y:-2.38, Z:-2.08 [[ 9.89578137e-01 1.43970244e-01 -2.77114736e-03 8.23016538e+01] [-1.43969823e-01 9.89582016e-01 3.51701196e-04 -2.37569864e+00] [ 2.79291210e-03 5.09257817e-05 9.99996099e-01 -2.07702581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.33, Y:-2.38, Z:-2.08 [[ 9.89595770e-01 1.43828736e-01 -3.67525682e-03 8.23309398e+01] [-1.43827993e-01 9.89602592e-01 4.67177347e-04 -2.37736321e+00] [ 3.70423720e-03 6.62880841e-05 9.99993137e-01 -2.07685793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:-2.38, Z:-2.08 [[ 9.89709638e-01 1.43067498e-01 -2.55405567e-03 8.23585281e+01] [-1.43067139e-01 9.89712933e-01 3.23877419e-04 -2.37884748e+00] [ 2.57411826e-03 4.48568330e-05 9.99996686e-01 -2.07801292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:-2.38, Z:-2.08 [[ 9.90143629e-01 1.40032194e-01 -2.56494820e-03 8.23869736e+01] [-1.40031820e-01 9.90146950e-01 3.25458217e-04 -2.37968081e+00] [ 2.58525027e-03 3.69239850e-05 9.99996658e-01 -2.07954158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:-2.38, Z:-2.08 [[ 9.90432034e-01 1.37948696e-01 -3.81345814e-03 8.24147097e+01] [-1.37947855e-01 9.90439375e-01 4.83911999e-04 -2.38233513e+00] [ 3.84375413e-03 4.67764257e-05 9.99992612e-01 -2.08005239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:-2.39, Z:-2.08 [[ 9.91073754e-01 1.33304760e-01 -1.62921508e-03 8.24433924e+01] [-1.33304601e-01 9.91075093e-01 2.06453453e-04 -2.38709853e+00] [ 1.64219572e-03 1.25712674e-05 9.99998652e-01 -2.07992206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:-2.39, Z:-2.08 [[ 9.91287297e-01 1.31711558e-01 -1.24889075e-03 8.24719570e+01] [-1.31711464e-01 9.91288084e-01 1.57740144e-04 -2.39069310e+00] [ 1.25878672e-03 8.12742807e-06 9.99999208e-01 -2.07946214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:-2.39, Z:-2.08 [[ 9.91437699e-01 1.30571046e-01 -1.57836442e-03 8.25010905e+01] [-1.30570893e-01 9.91438955e-01 1.99526568e-04 -2.39253824e+00] [ 1.59090436e-03 8.27029022e-06 9.99998734e-01 -2.08004192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.53, Y:-2.39, Z:-2.08 [[ 9.91642432e-01 1.29008444e-01 -1.45179549e-03 8.25310247e+01] [-1.29008313e-01 9.91643495e-01 1.83947789e-04 -2.39363463e+00] [ 1.46339437e-03 4.88325493e-06 9.99998929e-01 -2.08064405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:-2.40, Z:-2.08 [[ 9.91745236e-01 1.28223958e-01 5.27335861e-05 8.25597595e+01] [-1.28223958e-01 9.91745238e-01 -7.55923348e-06 -2.39659033e+00] [-5.32675578e-05 7.35124653e-07 9.99999999e-01 -2.08100421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.59, Y:-2.40, Z:-2.08 [[ 9.91866056e-01 1.27281873e-01 1.02572006e-03 8.25897051e+01] [-1.27281805e-01 9.91866586e-01 -1.30860564e-04 -2.39934519e+00] [-1.03403364e-03 -7.59350476e-07 9.99999465e-01 -2.08187536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.62, Y:-2.40, Z:-2.08 [[ 9.92093686e-01 1.25498797e-01 -4.12104522e-04 8.26200688e+01] [-1.25498786e-01 9.92093772e-01 5.23523566e-05 -2.40427965e+00] [ 4.15416487e-04 -2.19825289e-07 9.99999914e-01 -2.08393160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:-2.41, Z:-2.08 [[ 9.92255705e-01 1.24201861e-01 -1.58570643e-03 8.26494233e+01] [-1.24201699e-01 9.92256972e-01 2.00830907e-04 -2.40903704e+00] [ 1.59837184e-03 -2.32818023e-06 9.99998723e-01 -2.08473134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:-2.41, Z:-2.09 [[ 9.92404219e-01 1.23005349e-01 -1.88436532e-03 8.26780666e+01] [-1.23005118e-01 9.92406008e-01 2.38412528e-04 -2.41258725e+00] [ 1.89938148e-03 -4.81502010e-06 9.99998196e-01 -2.08539514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.71, Y:-2.41, Z:-2.09 [[ 9.92677377e-01 1.20769037e-01 -2.54256889e-03 8.27079625e+01] [-1.20768608e-01 9.92680633e-01 3.22203405e-04 -2.41454783e+00] [ 2.56287109e-03 -1.27815265e-05 9.99996716e-01 -2.08569567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:-2.42, Z:-2.09 [[ 9.92805039e-01 1.19707225e-01 -2.88702789e-03 8.27359978e+01] [-1.19706668e-01 9.92809236e-01 3.65543137e-04 -2.41812658e+00] [ 2.91002611e-03 -1.73165793e-05 9.99995766e-01 -2.08683423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:-2.42, Z:-2.09 [[ 9.92915566e-01 1.18771563e-01 -3.46342557e-03 8.27643567e+01] [-1.18770756e-01 9.92921606e-01 4.38576472e-04 -2.42229465e+00] [ 3.49100049e-03 -2.41157346e-05 9.99993906e-01 -2.08846255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:-2.42, Z:-2.09 [[ 9.92940184e-01 1.18535982e-01 -4.36036437e-03 8.27926796e+01] [-1.18534701e-01 9.92949757e-01 5.51874281e-04 -2.42445908e+00] [ 4.39503970e-03 -3.11236613e-05 9.99990341e-01 -2.08888978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.82, Y:-2.43, Z:-2.09 [[ 9.92811758e-01 1.19644546e-01 -3.16170560e-03 8.28215908e+01] [-1.19643880e-01 9.92816792e-01 3.99684745e-04 -2.42622438e+00] [ 3.18681451e-03 -1.85329896e-05 9.99994922e-01 -2.08889366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:-2.43, Z:-2.09 [[ 9.92615788e-01 1.21287314e-01 -1.81253023e-03 8.28494667e+01] [-1.21287099e-01 9.92617443e-01 2.28251192e-04 -2.42861095e+00] [ 1.82683310e-03 -6.72920229e-06 9.99998331e-01 -2.08940148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:-2.43, Z:-2.09 [[ 9.92166589e-01 1.24896948e-01 -2.49243074e-03 8.28771251e+01] [-1.24896553e-01 9.92169720e-01 3.14275821e-04 -2.43150535e+00] [ 2.51216639e-03 -5.17962538e-07 9.99996845e-01 -2.08902856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.91, Y:-2.43, Z:-2.09 [[ 9.91944269e-01 1.26616596e-01 -3.84775140e-03 8.29056990e+01] [-1.26615666e-01 9.91951732e-01 4.85273924e-04 -2.43387952e+00] [ 3.87822739e-03 5.82091740e-06 9.99992480e-01 -2.08985223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.93, Y:-2.44, Z:-2.09 [[ 9.91761251e-01 1.28025715e-01 -4.36315101e-03 8.29343317e+01] [-1.28024530e-01 9.91770849e-01 5.50930316e-04 -2.43534054e+00] [ 4.39777923e-03 1.21990195e-05 9.99990330e-01 -2.09160342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:-2.44, Z:-2.09 [[ 9.91556676e-01 1.29615515e-01 -3.89574051e-03 8.29635415e+01] [-1.29614584e-01 9.91564329e-01 4.91580656e-04 -2.43546608e+00] [ 3.92659381e-03 1.75147057e-05 9.99992291e-01 -2.09218567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.99, Y:-2.44, Z:-2.09 [[ 9.91517854e-01 1.29945951e-01 -2.52875661e-03 8.29913174e+01] [-1.29945562e-01 9.91521079e-01 3.18248996e-04 -2.43703408e+00] [ 2.54867065e-03 1.30511369e-05 9.99996752e-01 -2.09212999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.02, Y:-2.44, Z:-2.09 [[ 9.91520513e-01 1.29944789e-01 -1.19364489e-03 8.30204349e+01] [-1.29944703e-01 9.91521231e-01 1.49752166e-04 -2.43827705e+00] [ 1.20298376e-03 6.62548619e-06 9.99999276e-01 -2.09169372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:-2.44, Z:-2.09 [[ 9.91525060e-01 1.29910087e-01 -1.19361651e-03 8.30495378e+01] [-1.29910001e-01 9.91525778e-01 1.49976571e-04 -2.44186773e+00] [ 1.20298501e-03 6.35719362e-06 9.99999276e-01 -2.09237257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.08, Y:-2.44, Z:-2.09 [[ 9.91561280e-01 1.29636754e-01 -7.34954248e-04 8.30783179e+01] [-1.29636721e-01 9.91561552e-01 9.16997674e-05 -2.44276013e+00] [ 7.40640035e-04 4.35112032e-06 9.99999726e-01 -2.09269075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:-2.44, Z:-2.09 [[ 9.91772630e-01 1.27981669e-01 -2.78270432e-03 8.31077891e+01] [-1.27981191e-01 9.91776533e-01 3.50158955e-04 -2.44215075e+00] [ 2.80463477e-03 8.85574390e-06 9.99996067e-01 -2.09392290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:-2.44, Z:-2.10 [[ 9.91981044e-01 1.26346406e-01 -3.19294143e-03 8.31365984e+01] [-1.26345767e-01 9.91986182e-01 4.01758243e-04 -2.44459716e+00] [ 3.21811449e-03 4.87807348e-06 9.99994822e-01 -2.09552215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:-2.45, Z:-2.10 [[ 9.92435941e-01 1.22744903e-01 -2.14306889e-03 8.31640164e+01] [-1.22744609e-01 9.92438254e-01 2.68869291e-04 -2.44687141e+00] [ 2.15986588e-03 -3.78539626e-06 9.99997667e-01 -2.09728734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.19, Y:-2.45, Z:-2.10 [[ 9.92672139e-01 1.20830865e-01 -1.38785576e-03 8.31912706e+01] [-1.20830741e-01 9.92673109e-01 1.73583339e-04 -2.44988306e+00] [ 1.39866131e-03 -4.61570489e-06 9.99999022e-01 -2.09810703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:-2.45, Z:-2.10 [[ 9.92868941e-01 1.19205984e-01 -1.09538182e-03 8.32188287e+01] [-1.19205906e-01 9.92869545e-01 1.36666193e-04 -2.45288993e+00] [ 1.10386268e-03 -5.11563549e-06 9.99999391e-01 -2.09776443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:-2.46, Z:-2.10 [[ 9.93056857e-01 1.17628054e-01 -1.31161727e-03 8.32475937e+01] [-1.17627940e-01 9.93057723e-01 1.64101778e-04 -2.45502706e+00] [ 1.32181463e-03 -8.67955825e-06 9.99999126e-01 -2.09757071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.28, Y:-2.45, Z:-2.10 [[ 9.93265146e-01 1.15842518e-01 -2.20456845e-03 8.32762845e+01] [-1.15842190e-01 9.93267593e-01 2.76426391e-04 -2.45462398e+00] [ 2.22174833e-03 -1.91826630e-05 9.99997532e-01 -2.09802665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.30, Y:-2.46, Z:-2.10 [[ 9.93284582e-01 1.15684457e-01 -1.68680970e-03 8.33043704e+01] [-1.15684265e-01 9.93286014e-01 2.10857640e-04 -2.45662087e+00] [ 1.69987744e-03 -1.43043016e-05 9.99998555e-01 -2.09851730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:-2.46, Z:-2.10 [[ 9.93317959e-01 1.15395024e-01 -1.84979215e-03 8.33328211e+01] [-1.15394793e-01 9.93319681e-01 2.31552483e-04 -2.45872179e+00] [ 1.86415495e-03 -1.65488581e-05 9.99998262e-01 -2.09942677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.36, Y:-2.46, Z:-2.10 [[ 9.93380853e-01 1.14839509e-01 -2.52336474e-03 8.33600896e+01] [-1.14839077e-01 9.93384058e-01 3.15688145e-04 -2.46257022e+00] [ 2.54292377e-03 -2.38176814e-05 9.99996766e-01 -2.10090365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:83.39, Y:-2.47, Z:-2.10 [[ 9.93513295e-01 1.13693865e-01 -2.24425099e-03 8.33888570e+01] [-1.13693521e-01 9.93515830e-01 2.80929363e-04 -2.46750362e+00] [ 2.26163883e-03 -2.39502605e-05 9.99997442e-01 -2.10227718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.42, Y:-2.47, Z:-2.10 [[ 9.93697810e-01 1.12081978e-01 -1.51415302e-03 8.34164330e+01] [-1.12081821e-01 9.93698963e-01 1.88665726e-04 -2.47342980e+00] [ 1.52575832e-03 -1.77676904e-05 9.99998836e-01 -2.10285889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.45, Y:-2.48, Z:-2.10 [[ 9.94086140e-01 1.08594256e-01 -1.82096766e-04 8.34450118e+01] [-1.08594254e-01 9.94086157e-01 2.17750450e-05 -2.47690030e+00] [ 1.83384519e-04 -1.87160791e-06 9.99999983e-01 -2.10227918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.47, Y:-2.48, Z:-2.10 [[ 9.94226953e-01 1.07291348e-01 -1.15451763e-03 8.34746459e+01] [-1.07291253e-01 9.94227623e-01 1.44370079e-04 -2.47889901e+00] [ 1.16334298e-03 -1.96669813e-05 9.99999323e-01 -2.10266045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:-2.48, Z:-2.10 [[ 9.94391339e-01 1.05710426e-01 -3.34218309e-03 8.35024148e+01] [-1.05709616e-01 9.94396954e-01 4.18604610e-04 -2.48475184e+00] [ 3.36770756e-03 -6.29559079e-05 9.99994327e-01 -2.10442320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.53, Y:-2.49, Z:-2.11 [[ 9.94348685e-01 1.06110443e-01 -3.35655176e-03 8.35302682e+01] [-1.06109629e-01 9.94354348e-01 4.19997295e-04 -2.49165819e+00] [ 3.38216794e-03 -6.14612950e-05 9.99994279e-01 -2.10508059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.56, Y:-2.50, Z:-2.11 [[ 9.94220913e-01 1.07318631e-01 -2.73634355e-03 8.35588634e+01] [-1.07318096e-01 9.94224677e-01 3.42060055e-04 -2.49799909e+00] [ 2.75724970e-03 -4.64240812e-05 9.99996198e-01 -2.10511834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.59, Y:-2.51, Z:-2.10 [[ 9.93681141e-01 1.12209535e-01 -2.60983517e-03 8.35856226e+01] [-1.12209066e-01 9.93684567e-01 3.25770324e-04 -2.50674059e+00] [ 2.62990747e-03 -3.08646591e-05 9.99996541e-01 -2.10457453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.61, Y:-2.51, Z:-2.10 [[ 9.93321374e-01 1.15341769e-01 -2.98732657e-03 8.36144785e+01] [-1.15341168e-01 9.93325866e-01 3.73224441e-04 -2.50954330e+00] [ 3.01043712e-03 -2.61700791e-05 9.99995468e-01 -2.10474488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:-2.51, Z:-2.11 [[ 9.92481960e-01 1.22357538e-01 -2.86199453e-03 8.36425661e+01] [-1.22357017e-01 9.92486087e-01 3.57084444e-04 -2.50725987e+00] [ 2.88418173e-03 -4.21475495e-06 9.99995841e-01 -2.10643406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:-2.51, Z:-2.11 [[ 9.92040771e-01 1.25879474e-01 -3.07690153e-03 8.36717480e+01] [-1.25878888e-01 9.92045542e-01 3.84116546e-04 -2.50872859e+00] [ 3.10077884e-03 6.25766993e-06 9.99995193e-01 -2.10745865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.70, Y:-2.51, Z:-2.11 [[ 9.91596630e-01 1.29316012e-01 -3.67334781e-03 8.37000379e+01] [-1.29315200e-01 9.91603433e-01 4.58592780e-04 -2.51184563e+00] [ 3.70180769e-03 2.02806515e-05 9.99993148e-01 -2.10841701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.73, Y:-2.52, Z:-2.11 [[ 9.91176750e-01 1.32492769e-01 -3.78374766e-03 8.37288394e+01] [-1.32491931e-01 9.91183971e-01 4.72218906e-04 -2.51745432e+00] [ 3.81295562e-03 3.32636351e-05 9.99992730e-01 -2.10955912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.76, Y:-2.52, Z:-2.11 [[ 9.90572993e-01 1.36948953e-01 -3.18274950e-03 8.37559762e+01] [-1.36948386e-01 9.90578105e-01 3.96573769e-04 -2.52428604e+00] [ 3.20707233e-03 4.30371409e-05 9.99994856e-01 -2.10950076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:-2.53, Z:-2.11 [[ 9.90387367e-01 1.38262432e-01 -4.04522939e-03 8.37851148e+01] [-1.38261525e-01 9.90395626e-01 5.04470314e-04 -2.52619360e+00] [ 4.07612679e-03 5.96785582e-05 9.99991691e-01 -2.11011788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:-2.52, Z:-2.11 [[ 9.90453476e-01 1.37781448e-01 -4.26429046e-03 8.38146534e+01] [-1.37780436e-01 9.90462654e-01 5.31623381e-04 -2.52283968e+00] [ 4.29686828e-03 6.09875730e-05 9.99990767e-01 -2.11031139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.84, Y:-2.52, Z:-2.11 [[ 9.90597979e-01 1.36769691e-01 -3.11364624e-03 8.38432848e+01] [-1.36769148e-01 9.90602872e-01 3.87706674e-04 -2.52349036e+00] [ 3.13741343e-03 4.17892954e-05 9.99995077e-01 -2.11047151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:-2.53, Z:-2.11 [[ 9.90847057e-01 1.34971908e-01 -2.16666461e-03 8.38707763e+01] [-1.34971643e-01 9.90849425e-01 2.69028301e-04 -2.52529571e+00] [ 2.18314965e-03 2.58723809e-05 9.99997617e-01 -2.11147025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:-2.53, Z:-2.11 [[ 9.91587142e-01 1.29394947e-01 -3.44775583e-03 8.38979558e+01] [-1.29394238e-01 9.91593136e-01 4.28744685e-04 -2.53218845e+00] [ 3.47424841e-03 2.09820227e-05 9.99993965e-01 -2.11327555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.93, Y:-2.54, Z:-2.11 [[ 9.91957156e-01 1.26513451e-01 -3.91763297e-03 8.39264176e+01] [-1.26512513e-01 9.91964892e-01 4.87437185e-04 -2.53891588e+00] [ 3.94782173e-03 1.21127878e-05 9.99992207e-01 -2.11421842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.95, Y:-2.54, Z:-2.11 [[ 9.92313417e-01 1.23721766e-01 -2.64708781e-03 8.39536330e+01] [-1.23721330e-01 9.92316948e-01 3.28537189e-04 -2.54421722e+00] [ 2.66739729e-03 1.48936194e-06 9.99996442e-01 -2.11490886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:-2.55, Z:-2.11 [[ 9.92624963e-01 1.21216831e-01 -1.47096145e-03 8.39814081e+01] [-1.21216694e-01 9.92626052e-01 1.81857109e-04 -2.54778369e+00] [ 1.48215879e-03 -2.21082236e-06 9.99998902e-01 -2.11484902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.55, Z:-2.12 [[ 9.92927315e-01 1.18709934e-01 -1.81631953e-03 8.40100313e+01] [-1.18709721e-01 9.92928976e-01 2.25064567e-04 -2.55055828e+00] [ 1.83019369e-03 -7.85797042e-06 9.99998325e-01 -2.11509837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:-2.56, Z:-2.12 [[ 9.92981264e-01 1.18253043e-01 -2.10400845e-03 8.40372948e+01] [-1.18252757e-01 9.92983493e-01 2.60488127e-04 -2.55509009e+00] [ 2.12004918e-03 -9.85503046e-06 9.99997753e-01 -2.11561417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.56, Z:-2.12 [[ 9.92959868e-01 1.18441869e-01 -1.49138160e-03 8.40660489e+01] [-1.18441725e-01 9.92960988e-01 1.84438100e-04 -2.55971294e+00] [ 1.50272894e-03 -6.49782157e-06 9.99998871e-01 -2.11587956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.09, Y:-2.56, Z:-2.12 [[ 9.92739637e-01 1.20281748e-01 5.61043572e-04 8.40940008e+01] [-1.20281727e-01 9.92739795e-01 -7.09271071e-05 -2.56476441e+00] [-5.65501517e-04 2.92886081e-06 9.99999840e-01 -2.11559849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:-2.57, Z:-2.12 [[ 9.92598564e-01 1.21441002e-01 4.17486749e-04 8.41222455e+01] [-1.21440991e-01 9.92598652e-01 -5.27671862e-05 -2.56944318e+00] [-4.20804884e-04 1.67662889e-06 9.99999911e-01 -2.11656721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:84.15, Y:-2.57, Z:-2.12 [[ 9.92340048e-01 1.23531586e-01 -1.08501156e-03 8.41507743e+01] [-1.23531513e-01 9.92340641e-01 1.34042875e-04 -2.57283404e+00] [ 1.09325960e-03 1.01700681e-06 9.99999402e-01 -2.11791972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:-2.58, Z:-2.12 [[ 9.92277899e-01 1.24027225e-01 -1.34832680e-03 8.41794408e+01] [-1.24027114e-01 9.92278815e-01 1.66381918e-04 -2.57617124e+00] [ 1.35855200e-03 2.13198139e-06 9.99999077e-01 -2.11911321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.21, Y:-2.58, Z:-2.12 [[ 9.92288017e-01 1.23942879e-01 -1.62921820e-03 8.42066960e+01] [-1.23942717e-01 9.92289354e-01 2.00905502e-04 -2.58078236e+00] [ 1.64155668e-03 2.57360759e-06 9.99998653e-01 -2.12055505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:-2.59, Z:-2.12 [[ 9.92295792e-01 1.23872043e-01 -2.18579813e-03 8.42353029e+01] [-1.23871748e-01 9.92298200e-01 2.70235271e-04 -2.58784820e+00] [ 2.20243814e-03 2.60531257e-06 9.99997575e-01 -2.12072852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.26, Y:-2.60, Z:-2.12 [[ 9.92220709e-01 1.24485082e-01 -1.23635375e-03 8.42624184e+01] [-1.24484990e-01 9.92221479e-01 1.51900238e-04 -2.59651065e+00] [ 1.24564606e-03 3.18892265e-06 9.99999224e-01 -2.11985813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:-2.60, Z:-2.12 [[ 9.92170915e-01 1.24887198e-01 -2.51241306e-04 8.42903206e+01] [-1.24887195e-01 9.92170947e-01 2.97836574e-05 -2.60032425e+00] [ 2.52993922e-04 1.82634323e-06 9.99999968e-01 -2.11990918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.32, Y:-2.61, Z:-2.12 [[ 9.92122520e-01 1.25270675e-01 -4.04789188e-04 8.43189135e+01] [-1.25270665e-01 9.92122602e-01 4.90925347e-05 -2.60606998e+00] [ 4.07750358e-04 2.00240166e-06 9.99999917e-01 -2.12052425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.35, Y:-2.61, Z:-2.12 [[ 9.92097770e-01 1.25464737e-01 -7.84543205e-04 8.43477240e+01] [-1.25464700e-01 9.92098080e-01 9.61202098e-05 -2.61095221e+00] [ 7.90403504e-04 3.07183206e-06 9.99999688e-01 -2.12195999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.62, Z:-2.12 [[ 9.92021017e-01 1.26071799e-01 -4.50401135e-04 8.43769608e+01] [-1.26071787e-01 9.92021120e-01 5.52289160e-05 -2.61545220e+00] [ 4.53770246e-04 1.99463031e-06 9.99999897e-01 -2.12289548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.41, Y:-2.62, Z:-2.12 [[ 9.91916911e-01 1.26889094e-01 -3.85463417e-06 8.44053744e+01] [-1.26889094e-01 9.91916911e-01 -3.82941547e-07 -2.61970871e+00] [ 3.77488561e-06 8.68957234e-07 1.00000000e+00 -2.12409074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.43, Y:-2.63, Z:-2.12 [[ 9.91559830e-01 1.29647652e-01 7.68631108e-04 8.44335579e+01] [-1.29647616e-01 9.91560127e-01 -9.62760339e-05 -2.62557899e+00] [-7.74625921e-04 -4.18774290e-06 9.99999700e-01 -2.12429502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.46, Y:-2.63, Z:-2.12 [[ 9.91326382e-01 1.31419906e-01 9.01183110e-04 8.44632637e+01] [-1.31419858e-01 9.91326792e-01 -1.12122959e-04 -2.62893149e+00] [-9.08102150e-04 -7.28290929e-06 9.99999588e-01 -2.12423882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:-2.63, Z:-2.12 [[ 9.91099520e-01 1.33105606e-01 2.15399067e-03 8.44916598e+01] [-1.33109950e-01 9.91099224e-01 2.01711217e-03 -2.63221599e+00] [-1.86632954e-03 -2.28587649e-03 9.99995646e-01 -2.12455306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.52, Y:-2.63, Z:-2.13 [[ 9.90746231e-01 1.35726770e-01 -3.86775325e-04 8.45201613e+01] [-1.35727301e-01 9.90743606e-01 -2.28184818e-03 -2.62944037e+00] [ 7.34872982e-05 2.31322845e-03 9.99997322e-01 -2.12527481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:-2.63, Z:-2.13 [[ 9.90687096e-01 1.36152850e-01 -1.21605856e-03 8.45484766e+01] [-1.36152770e-01 9.90687842e-01 1.49245721e-04 -2.63329412e+00] [ 1.22505466e-03 1.77139316e-05 9.99999249e-01 -2.12673800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:-2.64, Z:-2.13 [[ 9.90683549e-01 1.36177497e-01 -1.33966779e-03 8.45760523e+01] [-1.36177399e-01 9.90684455e-01 1.64176349e-04 -2.63638764e+00] [ 1.34954518e-03 1.97856673e-05 9.99999089e-01 -2.12804568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:-2.64, Z:-2.13 [[ 9.90858249e-01 1.34900385e-01 1.34784786e-03 8.46044837e+01] [-1.34900282e-01 9.90859166e-01 -1.67591044e-04 -2.63980552e+00] [-1.35813550e-03 -1.57660879e-05 9.99999078e-01 -2.12820998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.64, Z:-2.13 [[ 9.91029483e-01 1.33626554e-01 2.12301840e-03 8.46329681e+01] [-1.33626297e-01 9.91031757e-01 -2.62993940e-04 -2.64330304e+00] [-2.13912163e-03 -2.30563393e-05 9.99997712e-01 -2.12764671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:-2.65, Z:-2.13 [[ 9.91249001e-01 1.31986318e-01 2.24270772e-03 8.46620308e+01] [-1.31986028e-01 9.91251538e-01 -2.77453165e-04 -2.64655136e+00] [-2.25970750e-03 -2.09809114e-05 9.99997447e-01 -2.12793528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.65, Z:-2.13 [[ 9.91640126e-01 1.29029110e-01 1.16197424e-03 8.46911240e+01] [-1.29029030e-01 9.91640806e-01 -1.44246756e-04 -2.64702057e+00] [-1.17087310e-03 -6.88753714e-06 9.99999315e-01 -2.12905715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.72, Y:-2.65, Z:-2.13 [[ 9.91800401e-01 1.27794133e-01 7.90307901e-04 8.47198083e+01] [-1.27794095e-01 9.91800716e-01 -9.85828573e-05 -2.64955653e+00] [-7.96426253e-04 -3.22216541e-06 9.99999683e-01 -2.12967873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:-2.65, Z:-2.13 [[ 9.91974915e-01 1.26425591e-01 1.52883181e-03 8.47491493e+01] [-1.26425449e-01 9.91976093e-01 -1.89174330e-04 -2.65378399e+00] [-1.54048109e-03 -5.62705814e-06 9.99998813e-01 -2.12972414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.78, Y:-2.66, Z:-2.13 [[ 9.92327612e-01 1.23540910e-01 4.85336068e-03 8.47789667e+01] [-1.23539459e-01 9.92339480e-01 -5.98714190e-04 -2.65892697e+00] [-4.89014711e-03 -5.46093022e-06 9.99988043e-01 -2.12807742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.81, Y:-2.66, Z:-2.13 [[ 9.92438292e-01 1.22623766e-01 5.44503774e-03 8.48082346e+01] [-1.22621927e-01 9.92453229e-01 -6.71460309e-04 -2.66133754e+00] [-5.48628228e-03 -1.29810027e-06 9.99984950e-01 -2.12831550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:-2.66, Z:-2.13 [[ 9.92513930e-01 1.22049138e-01 4.48402638e-03 8.48387525e+01] [-1.22047884e-01 9.92524059e-01 -5.53215322e-04 -2.66362486e+00] [-4.51802352e-03 1.80798001e-06 9.99989794e-01 -2.12935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:-2.67, Z:-2.13 [[ 9.92515422e-01 1.22037007e-01 4.48399856e-03 8.48686884e+01] [-1.22035752e-01 9.92525551e-01 -5.53440849e-04 -2.66727872e+00] [-4.51802340e-03 2.09044233e-06 9.99989794e-01 -2.13004952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.90, Y:-2.67, Z:-2.13 [[ 9.92547066e-01 1.21811017e-01 3.52096384e-03 8.48977462e+01] [-1.21810242e-01 9.92553311e-01 -4.34593770e-04 -2.67025588e+00] [-3.54768263e-03 2.46531474e-06 9.99993707e-01 -2.13190570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:-2.67, Z:-2.13 [[ 9.92590320e-01 1.21418645e-01 4.68722034e-03 8.49269721e+01] [-1.21417266e-01 9.92601387e-01 -5.78620331e-04 -2.67223250e+00] [-4.72279671e-03 5.22345863e-06 9.99988848e-01 -2.13331062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:-2.68, Z:-2.13 [[ 9.92616473e-01 1.21182855e-01 5.22040147e-03 8.49562572e+01] [-1.21181144e-01 9.92630201e-01 -6.44025024e-04 -2.67557496e+00] [-5.25997295e-03 6.65562502e-06 9.99986166e-01 -2.13428425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.99, Y:-2.68, Z:-2.14 [[ 9.92723546e-01 1.20286398e-01 5.58056526e-03 8.49855738e+01] [-1.20284429e-01 9.92739232e-01 -6.88362016e-04 -2.67954147e+00] [-5.62284666e-03 1.20980731e-05 9.99984192e-01 -2.13514217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:-2.68, Z:-2.14 [[ 9.92809430e-01 1.19575867e-01 5.57209808e-03 8.50154039e+01] [-1.19573894e-01 9.92825066e-01 -6.87044486e-04 -2.68267521e+00] [-5.61427259e-03 1.58267760e-05 9.99984240e-01 -2.13596338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:-2.69, Z:-2.14 [[ 9.92940459e-01 1.18513717e-01 4.87277626e-03 8.50460787e+01] [-1.18512195e-01 9.92952415e-01 -6.00817504e-04 -2.68630134e+00] [-4.90964007e-03 1.90925966e-05 9.99987947e-01 -2.13651845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.08, Y:-2.69, Z:-2.14 [[ 9.93131968e-01 1.16969096e-01 2.66935550e-03 8.50761201e+01] [-1.16968634e-01 9.93135555e-01 -3.28883434e-04 -2.69008145e+00] [-2.68950105e-03 1.43937855e-05 9.99996383e-01 -2.13818128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:-2.69, Z:-2.14 [[ 9.93178051e-01 1.16577670e-01 2.64692426e-03 8.51052268e+01] [-1.16577213e-01 9.93181578e-01 -3.26906069e-04 -2.69339634e+00] [-2.66698636e-03 1.61048792e-05 9.99996443e-01 -2.13902075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:-2.70, Z:-2.14 [[ 9.93195608e-01 1.16404762e-01 3.52357194e-03 8.51341004e+01] [-1.16403950e-01 9.93201858e-01 -4.35137073e-04 -2.69619399e+00] [-3.55027022e-03 2.20185370e-05 9.99993698e-01 -2.13919830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:-2.70, Z:-2.14 [[ 9.93119333e-01 1.16997407e-01 5.05940430e-03 8.51639724e+01] [-1.16995746e-01 9.93132220e-01 -6.24011601e-04 -2.70012329e+00] [-5.09766517e-03 2.77892048e-05 9.99987006e-01 -2.13845469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.19, Y:-2.71, Z:-2.14 [[ 9.93062604e-01 1.17472966e-01 5.17363770e-03 8.51934729e+01] [-1.17471238e-01 9.93076081e-01 -6.37530710e-04 -2.70618394e+00] [-5.21270847e-03 2.53542793e-05 9.99986413e-01 -2.13825419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:-2.71, Z:-2.14 [[ 9.93018486e-01 1.17844204e-01 5.19903636e-03 8.52228668e+01] [-1.17842466e-01 9.93032096e-01 -6.40444582e-04 -2.71274841e+00] [-5.23828265e-03 2.33060416e-05 9.99986280e-01 -2.13856775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:-2.72, Z:-2.14 [[ 9.92938500e-01 1.18551340e-01 4.32618692e-03 8.52527963e+01] [-1.18550142e-01 9.92947924e-01 -5.33154774e-04 -2.71837569e+00] [-4.35888454e-03 1.65198272e-05 9.99990500e-01 -2.13962061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.28, Y:-2.72, Z:-2.14 [[ 9.92753576e-01 1.20097316e-01 4.11976718e-03 8.52821576e+01] [-1.20096242e-01 9.92762124e-01 -5.07943464e-04 -2.72194817e+00] [-4.15095146e-03 9.49413217e-06 9.99991385e-01 -2.14187718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:-2.73, Z:-2.14 [[ 9.92700322e-01 1.20502869e-01 5.01299887e-03 8.53127900e+01] [-1.20501286e-01 9.92712979e-01 -6.17736082e-04 -2.72601894e+00] [-5.05090801e-03 9.15399577e-06 9.99987244e-01 -2.14326361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:-2.73, Z:-2.14 [[ 9.92680631e-01 1.20620384e-01 5.99071105e-03 8.53431512e+01] [-1.20618127e-01 9.92698707e-01 -7.38004748e-04 -2.73109565e+00] [-6.03598953e-03 1.00146734e-05 9.99981783e-01 -2.14414392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:-2.74, Z:-2.14 [[ 9.92664158e-01 1.20685705e-01 7.26841831e-03 8.53729573e+01] [-1.20682382e-01 9.92690768e-01 -8.95571036e-04 -2.73973666e+00] [-7.32337438e-03 1.18312321e-05 9.99973184e-01 -2.14364295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.40, Y:-2.75, Z:-2.14 [[ 9.92616174e-01 1.21070245e-01 7.42476314e-03 8.54041502e+01] [-1.21066807e-01 9.92643942e-01 -9.12409129e-04 -2.74624190e+00] [-7.48061175e-03 6.77969089e-06 9.99972020e-01 -2.14300527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.44, Y:-2.76, Z:-2.14 [[ 9.92508322e-01 1.22045012e-01 5.67861084e-03 8.54353737e+01] [-1.22043018e-01 9.92524566e-01 -6.97663196e-04 -2.75612867e+00] [-5.72130708e-03 -5.98279722e-07 9.99983633e-01 -2.14381096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.47, Y:-2.76, Z:-2.15 [[ 9.92405268e-01 1.22937022e-01 4.27455922e-03 8.54658302e+01] [-1.22935894e-01 9.92414474e-01 -5.26601633e-04 -2.76289552e+00] [-4.30687328e-03 -2.89452466e-06 9.99990725e-01 -2.14511354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-2.77, Z:-2.15 [[ 9.92244521e-01 1.24227276e-01 4.28896258e-03 8.54952616e+01] [-1.24226144e-01 9.92253790e-01 -5.30360163e-04 -2.76918019e+00] [-4.32162457e-03 -6.55431615e-06 9.99990662e-01 -2.14616435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-2.78, Z:-2.15 [[ 9.91766767e-01 1.27913706e-01 6.06334182e-03 8.55256196e+01] [-1.27911513e-01 9.91785301e-01 -7.49742740e-04 -2.77838193e+00] [-6.10943566e-03 -3.20012937e-05 9.99981337e-01 -2.14691701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:-2.78, Z:-2.15 [[ 9.91511061e-01 1.29866825e-01 6.35788920e-03 8.55560814e+01] [-1.29864467e-01 9.91531444e-01 -7.84141749e-04 -2.78429758e+00] [-6.40588106e-03 -4.81786750e-05 9.99979481e-01 -2.14773833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.59, Y:-2.79, Z:-2.15 [[ 9.91316146e-01 1.31360752e-01 6.05401235e-03 8.55865382e+01] [-1.31358630e-01 9.91334631e-01 -7.48517423e-04 -2.78905430e+00] [-6.09987791e-03 -5.32293601e-05 9.99981394e-01 -2.14796245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.62, Y:-2.79, Z:-2.15 [[ 9.91067922e-01 1.33223475e-01 5.98995777e-03 8.56184147e+01] [-1.33221436e-01 9.91086021e-01 -7.39892448e-04 -2.79357174e+00] [-6.03513445e-03 -6.47071029e-05 9.99981786e-01 -2.14855502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:-2.80, Z:-2.15 [[ 9.90565672e-01 1.36905185e-01 6.05141720e-03 8.56484595e+01] [-1.36903165e-01 9.90584152e-01 -7.48758518e-04 -2.80114134e+00] [-6.09694691e-03 -8.67636837e-05 9.99981410e-01 -2.14903722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:-2.81, Z:-2.15 [[ 9.90331423e-01 1.38633355e-01 4.94629325e-03 8.56801881e+01] [-1.38632027e-01 9.90343772e-01 -6.11922174e-04 -2.80780613e+00] [-4.98336354e-03 -7.97089025e-05 9.99987580e-01 -2.14927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.71, Y:-2.81, Z:-2.15 [[ 9.90090365e-01 1.40375021e-01 3.99032410e-03 8.57114351e+01] [-1.40374172e-01 9.90098403e-01 -4.93564666e-04 -2.81316841e+00] [-4.02009767e-03 -7.14648191e-05 9.99991917e-01 -2.15013920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-2.82, Z:-2.15 [[ 9.89789930e-01 1.42464297e-01 4.45186530e-03 8.57435993e+01] [-1.42463256e-01 9.89799938e-01 -5.51782664e-04 -2.81683024e+00] [-4.48506533e-03 -8.80783007e-05 9.99989938e-01 -2.15193623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:-2.82, Z:-2.15 [[ 9.89797813e-01 1.42396894e-01 4.83880314e-03 8.57745863e+01] [-1.42395656e-01 9.89809636e-01 -6.01137243e-04 -2.82196149e+00] [-4.87509405e-03 -9.40202197e-05 9.99988112e-01 -2.15282726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.81, Y:-2.83, Z:-2.15 [[ 9.90014935e-01 1.40903292e-01 4.08533058e-03 8.58054069e+01] [-1.40902398e-01 9.90023362e-01 -5.07202556e-04 -2.83093379e+00] [-4.11603922e-03 -7.34947694e-05 9.99991526e-01 -2.15401759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.84, Y:-2.84, Z:-2.16 [[ 9.90167772e-01 1.39841125e-01 3.49895584e-03 8.58378489e+01] [-1.39840463e-01 9.90173953e-01 -4.34239771e-04 -2.83791907e+00] [-3.52529951e-03 -5.93253782e-05 9.99993784e-01 -2.15513337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:-2.84, Z:-2.16 [[ 9.90350563e-01 1.38558065e-01 2.72487536e-03 8.58690470e+01] [-1.38557659e-01 9.90354311e-01 -3.38152399e-04 -2.84408239e+00] [-2.74544580e-03 -4.26629318e-05 9.99996230e-01 -2.15616063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:-2.85, Z:-2.16 [[ 9.90871824e-01 1.34791319e-01 2.08040160e-03 8.59006743e+01] [-1.34791076e-01 9.90874008e-01 -2.57373434e-04 -2.84972463e+00] [-2.09610758e-03 -2.53954852e-05 9.99997803e-01 -2.15752465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:-2.85, Z:-2.16 [[ 9.91168539e-01 1.32582170e-01 2.62585567e-03 8.59328585e+01] [-1.32581770e-01 9.91172017e-01 -3.26517365e-04 -2.85402774e+00] [-2.64596504e-03 -2.45068536e-05 9.99996499e-01 -2.15799100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:-2.86, Z:-2.16 [[ 9.91386566e-01 1.30931044e-01 3.12054844e-03 8.59649565e+01] [-1.30930468e-01 9.91391477e-01 -3.88845639e-04 -2.85956454e+00] [-3.14459709e-03 -2.30785255e-05 9.99995055e-01 -2.15786880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:-2.87, Z:-2.16 [[ 9.91754080e-01 1.28132984e-01 2.40489617e-03 8.59963811e+01] [-1.28132635e-01 9.91756996e-01 -2.99379377e-04 -2.86860457e+00] [-2.42343297e-03 -1.12349644e-05 9.99997063e-01 -2.15848756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.03, Y:-2.88, Z:-2.16 [[ 9.91920545e-01 1.26840388e-01 2.26903666e-03 8.60274190e+01] [-1.26840070e-01 9.91923140e-01 -2.83929579e-04 -2.87602045e+00] [-2.28672370e-03 -6.16918518e-06 9.99997385e-01 -2.15848238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.06, Y:-2.88, Z:-2.16 [[ 9.92091194e-01 1.25479767e-01 3.14489997e-03 8.60602395e+01] [-1.25479150e-01 9.92096179e-01 -3.93569994e-04 -2.88207454e+00] [-3.16942832e-03 -4.16205027e-06 9.99994977e-01 -2.15871934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:-2.89, Z:-2.16 [[ 9.92225079e-01 1.24391805e-01 4.00882316e-03 8.60929822e+01] [-1.24390785e-01 9.92233178e-01 -5.03705894e-04 -2.88642073e+00] [-4.04034423e-03 1.12896008e-06 9.99991838e-01 -2.15853977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.13, Y:-2.89, Z:-2.16 [[ 9.92283541e-01 1.23898635e-01 4.74365537e-03 8.61260263e+01] [-1.23897193e-01 9.92294880e-01 -5.97762286e-04 -2.89149647e+00] [-4.78116687e-03 5.42409323e-06 9.99988570e-01 -2.15916386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:-2.90, Z:-2.16 [[ 9.92181975e-01 1.24714752e-01 4.59992710e-03 8.61574583e+01] [-1.24713400e-01 9.92192638e-01 -5.80667031e-04 -2.89716835e+00] [-4.63643155e-03 2.45481335e-06 9.99989252e-01 -2.15960493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:-2.90, Z:-2.16 [[ 9.91779064e-01 1.27891619e-01 4.24514823e-03 8.61903534e+01] [-1.27890496e-01 9.91788150e-01 -5.36229933e-04 -2.90390809e+00] [-4.27886702e-03 -1.10924894e-05 9.99990846e-01 -2.16028628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.22, Y:-2.91, Z:-2.16 [[ 9.91486791e-01 1.30145674e-01 4.00581860e-03 8.62223833e+01] [-1.30144690e-01 9.91494883e-01 -5.06344142e-04 -2.91050576e+00] [-4.03764715e-03 -1.93024934e-05 9.99991848e-01 -2.16065345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:-2.92, Z:-2.16 [[ 9.91150393e-01 1.32695207e-01 3.58889696e-03 8.62541073e+01] [-1.32694432e-01 9.91156890e-01 -4.54133683e-04 -2.91748355e+00] [-3.61742131e-03 -2.61118648e-05 9.99993457e-01 -2.16050079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-2.92, Z:-2.16 [[ 9.90287927e-01 1.39004750e-01 2.73881477e-03 8.62873261e+01] [-1.39004325e-01 9.90291714e-01 -3.45865076e-04 -2.92060793e+00] [-2.76030246e-03 -3.82010893e-05 9.99996190e-01 -2.16038158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:-2.92, Z:-2.16 [[ 9.89803643e-01 1.42415913e-01 2.54106450e-03 8.63202120e+01] [-1.42415558e-01 9.89806903e-01 -3.21042650e-04 -2.92264888e+00] [-2.56088476e-03 -4.41179332e-05 9.99996720e-01 -2.16160665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:-2.93, Z:-2.16 [[ 9.89385345e-01 1.45278732e-01 3.27564980e-03 8.63515528e+01] [-1.45278151e-01 9.89390765e-01 -4.16047454e-04 -2.92640844e+00] [-3.30134051e-03 -6.42490923e-05 9.99994548e-01 -2.16300050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.38, Y:-2.93, Z:-2.16 [[ 9.88872518e-01 1.48700415e-01 4.39651166e-03 8.63827541e+01] [-1.48699386e-01 9.88882287e-01 -5.61871107e-04 -2.93368042e+00] [-4.43118297e-03 -9.81396877e-05 9.99990177e-01 -2.16327405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.41, Y:-2.94, Z:-2.16 [[ 9.88670672e-01 1.49944856e-01 6.84414881e-03 8.64140168e+01] [-1.49972273e-01 9.88683343e-01 3.68291627e-03 -2.94139979e+00] [-6.21446157e-03 -4.66762386e-03 9.99969796e-01 -2.16398821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.45, Y:-2.94, Z:-2.16 [[ 9.88494572e-01 1.51189467e-01 4.49736781e-03 8.64473130e+01] [-1.51167082e-01 9.88495779e-01 -4.96061530e-03 -2.93955083e+00] [-5.19562188e-03 4.22368733e-03 9.99977583e-01 -2.16449362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-2.94, Z:-2.16 [[ 9.88382376e-01 1.51924850e-01 4.37245183e-03 8.64787870e+01] [-1.51923857e-01 9.88392042e-01 -5.60215196e-04 -2.94375292e+00] [-4.40680720e-03 -1.10572921e-04 9.99990284e-01 -2.16456812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:-2.94, Z:-2.17 [[ 9.88061144e-01 1.54030528e-01 3.12621560e-03 8.65125599e+01] [-1.54030037e-01 9.88066085e-01 -3.98617379e-04 -2.94272610e+00] [-3.15030686e-03 -8.76727614e-05 9.99995034e-01 -2.16688259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:-2.95, Z:-2.17 [[ 9.87856424e-01 1.55352924e-01 2.27029358e-03 8.65453068e+01] [-1.55352671e-01 9.87859031e-01 -2.88601892e-04 -2.94567280e+00] [-2.28756516e-03 -6.75989383e-05 9.99997381e-01 -2.16814880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:-2.95, Z:-2.17 [[ 9.87720640e-01 1.56224477e-01 1.36042094e-03 8.65764538e+01] [-1.56224386e-01 9.87721576e-01 -1.73584111e-04 -2.94893700e+00] [-1.37083520e-03 -4.10783168e-05 9.99999060e-01 -2.16853443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.61, Y:-2.95, Z:-2.17 [[ 9.87686736e-01 1.56439255e-01 1.29235798e-03 8.66084047e+01] [-1.56439171e-01 9.87687581e-01 -1.66482091e-04 -2.94901693e+00] [-1.30249026e-03 -3.77432577e-05 9.99999151e-01 -2.16905053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.64, Y:-2.95, Z:-2.17 [[ 9.87918378e-01 1.54970139e-01 1.23889783e-03 8.66396329e+01] [-1.54970064e-01 9.87919154e-01 -1.56675099e-04 -2.95092677e+00] [-1.24821086e-03 -3.72098673e-05 9.99999220e-01 -2.17005149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:-2.95, Z:-2.17 [[ 9.89180438e-01 1.46686289e-01 2.27888452e-03 8.66725899e+01] [-1.46686002e-01 9.89183062e-01 -2.93681936e-04 -2.95038166e+00] [-2.29731309e-03 -4.37760336e-05 9.99997360e-01 -2.17068457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-2.95, Z:-2.17 [[ 9.90024113e-01 1.40845263e-01 3.85574327e-03 8.67046121e+01] [-1.40844400e-01 9.90031620e-01 -4.95777783e-04 -2.95285625e+00] [-3.88713571e-03 -5.22278877e-05 9.99992444e-01 -2.17117979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.74, Y:-2.96, Z:-2.17 [[ 9.90957157e-01 1.34072669e-01 5.33219094e-03 8.67372124e+01] [-1.34070909e-01 9.90971502e-01 -6.87890513e-04 -2.95694882e+00] [-5.37627659e-03 -3.32216583e-05 9.99985547e-01 -2.17148035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:-2.96, Z:-2.17 [[ 9.92770808e-01 1.19812462e-01 7.14820901e-03 8.67692334e+01] [-1.19808907e-01 9.92796540e-01 -9.25058141e-04 -2.96497857e+00] [-7.20755067e-03 6.19516065e-05 9.99974023e-01 -2.17142090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:-2.97, Z:-2.17 [[ 9.93488303e-01 1.13702821e-01 7.25677407e-03 8.68003615e+01] [-1.13698981e-01 9.93514799e-01 -9.40810510e-04 -2.97061995e+00] [-7.31668525e-03 1.09596420e-04 9.99973227e-01 -2.17223135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.83, Y:-2.98, Z:-2.17 [[ 9.93479058e-01 1.13783591e-01 7.25639643e-03 8.68335537e+01] [-1.13779733e-01 9.93505552e-01 -9.43710653e-04 -2.97508602e+00] [-7.31664893e-03 1.11925925e-04 9.99973227e-01 -2.17301211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-2.98, Z:-2.17 [[ 9.94076931e-01 1.08512421e-01 6.00912502e-03 8.68659156e+01] [-1.08509690e-01 9.94095086e-01 -7.79761530e-04 -2.98021736e+00] [-6.05825546e-03 1.23094659e-04 9.99981641e-01 -2.17441305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.90, Y:-2.99, Z:-2.18 [[ 9.94535396e-01 1.04276790e-01 5.06921153e-03 8.68977881e+01] [-1.04274788e-01 9.94548307e-01 -6.58319233e-04 -2.98611104e+00] [-5.11022316e-03 1.26130820e-04 9.99986935e-01 -2.17616466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:-3.00, Z:-2.18 [[ 9.95068996e-01 9.90975727e-02 4.16697061e-03 8.69293229e+01] [-9.90961757e-02 9.95077713e-01 -5.40908250e-04 -2.99678162e+00] [-4.20006228e-03 1.25310178e-04 9.99991172e-01 -2.17607573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.96, Y:-3.00, Z:-2.18 [[ 9.95118034e-01 9.85909537e-02 4.46351782e-03 8.69606219e+01] [-9.85893392e-02 9.95128034e-01 -5.80840930e-04 -3.00386465e+00] [-4.49903737e-03 1.37950012e-04 9.99989870e-01 -2.17653010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.99, Y:-3.01, Z:-2.18 [[ 9.95081908e-01 9.89899447e-02 3.60381942e-03 8.69931150e+01] [-9.89888965e-02 9.95088428e-01 -4.68500363e-04 -3.00976006e+00] [-3.63249582e-03 1.09458128e-04 9.99993396e-01 -2.17619821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:-3.02, Z:-2.18 [[ 9.94772365e-01 1.02111312e-01 1.10555986e-03 8.70248414e+01] [-1.02111218e-01 9.94772979e-01 -1.41078356e-04 -3.01630236e+00] [-1.11418677e-03 2.74507854e-05 9.99999379e-01 -2.17662949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-3.02, Z:-2.18 [[ 9.94456202e-01 1.05150366e-01 5.12507205e-04 8.70564773e+01] [-1.05150347e-01 9.94456334e-01 -6.33145699e-05 -3.02173159e+00] [-5.16323587e-04 9.07325621e-06 9.99999867e-01 -2.17792027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.09, Y:-3.03, Z:-2.18 [[ 9.93579270e-01 1.13113647e-01 2.35301135e-03 8.70884295e+01] [-1.13113241e-01 9.93582056e-01 -3.05734654e-04 -3.02983748e+00] [-2.37249262e-03 3.76148755e-05 9.99997185e-01 -2.17891181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:-3.04, Z:-2.18 [[ 9.93070224e-01 1.17503458e-01 2.11354921e-03 8.71206262e+01] [-1.17503135e-01 9.93072473e-01 -2.76778525e-04 -3.03612250e+00] [-2.13142997e-03 2.65118545e-05 9.99997728e-01 -2.17887310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:-3.04, Z:-2.18 [[ 9.91877809e-01 1.27188013e-01 1.27364025e-03 8.71517808e+01] [-1.27187907e-01 9.91878626e-01 -1.63943173e-04 -3.04424515e+00] [-1.28414815e-03 6.19957052e-07 9.99999175e-01 -2.17923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.18, Y:-3.05, Z:-2.18 [[ 9.91297300e-01 1.31633065e-01 1.54884171e-03 8.71841638e+01] [-1.31632913e-01 9.91298510e-01 -2.00291434e-04 -3.05136715e+00] [-1.56172945e-03 -5.33018744e-06 9.99998780e-01 -2.17974922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-3.06, Z:-2.18 [[ 9.90863577e-01 1.34855428e-01 1.84012209e-03 8.72150555e+01] [-1.34855216e-01 9.90865285e-01 -2.39489337e-04 -3.05815384e+00] [-1.85560954e-03 -1.08488017e-05 9.99998278e-01 -2.18038525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.25, Y:-3.06, Z:-2.18 [[ 9.90497433e-01 1.37518950e-01 1.83689195e-03 8.72472445e+01] [-1.37518742e-01 9.90499136e-01 -2.39171270e-04 -3.06394568e+00] [-1.85233047e-03 -1.57085429e-05 9.99998284e-01 -2.18094031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:-3.07, Z:-2.18 [[ 9.90193510e-01 1.39691330e-01 1.77347601e-03 8.72791787e+01] [-1.39691139e-01 9.90195098e-01 -2.31400244e-04 -3.06830068e+00] [-1.78841186e-03 -1.86078643e-05 9.99998401e-01 -2.18220287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.31, Y:-3.07, Z:-2.18 [[ 9.89706426e-01 1.43100339e-01 1.86663448e-03 8.73121841e+01] [-1.43100133e-01 9.89708185e-01 -2.43893117e-04 -3.07303280e+00] [-1.88232461e-03 -2.57330580e-05 9.99998228e-01 -2.18282575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:-3.08, Z:-2.18 [[ 9.89532619e-01 1.44295426e-01 2.00671759e-03 8.73446302e+01] [-1.44295189e-01 9.89534653e-01 -2.62917819e-04 -3.07933311e+00] [-2.02365443e-03 -2.93939367e-05 9.99997952e-01 -2.18371380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:-3.09, Z:-2.19 [[ 9.89312476e-01 1.45802122e-01 1.60219676e-03 8.73773202e+01] [-1.45801974e-01 9.89313773e-01 -2.09348992e-04 -3.08716955e+00] [-1.61559885e-03 -2.64918803e-05 9.99998695e-01 -2.18577627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-3.09, Z:-2.19 [[ 9.89271149e-01 1.46082960e-01 1.53728996e-03 8.74097519e+01] [-1.46082824e-01 9.89272343e-01 -2.00800571e-04 -3.09263114e+00] [-1.55013198e-03 -2.59254471e-05 9.99998798e-01 -2.18641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.44, Y:-3.10, Z:-2.19 [[ 9.89217387e-01 1.46436820e-01 2.28441004e-03 8.74415781e+01] [-1.46436514e-01 9.89220024e-01 -3.01381603e-04 -3.09831110e+00] [-2.30391752e-03 -3.63891211e-05 9.99997345e-01 -2.18762088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.47, Y:-3.11, Z:-2.19 [[ 9.89119737e-01 1.47106484e-01 1.35250115e-03 8.74735011e+01] [-1.47106380e-01 9.89120661e-01 -1.76687496e-04 -3.10735516e+00] [-1.36377871e-03 -2.41964580e-05 9.99999070e-01 -2.18860126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.51, Y:-3.11, Z:-2.19 [[ 9.88975873e-01 1.48073539e-01 9.74515211e-04 8.75050152e+01] [-1.48073486e-01 9.88976353e-01 -1.26522134e-04 -3.11413783e+00] [-9.82507079e-04 -1.91725259e-05 9.99999517e-01 -2.18922862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:-3.12, Z:-2.19 [[ 9.88832629e-01 1.49030306e-01 -3.00032353e-06 8.75378738e+01] [-1.49030306e-01 9.88832629e-01 4.87890771e-06 -3.11958676e+00] [ 3.69392282e-06 -4.37728400e-06 1.00000000e+00 -2.19046872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.57, Y:-3.12, Z:-2.19 [[ 9.88438924e-01 1.51618092e-01 -6.69013649e-04 8.75699125e+01] [-1.51618063e-01 9.88439150e-01 9.42051228e-05 -3.12158872e+00] [ 6.75562483e-04 8.31854337e-06 9.99999772e-01 -2.19114726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:-3.12, Z:-2.19 [[ 9.88208933e-01 1.53111084e-01 3.17122509e-04 8.76019670e+01] [-1.53111079e-01 9.88208984e-01 -3.85991257e-05 -3.12406928e+00] [-3.19293266e-04 -1.04109688e-05 9.99999949e-01 -2.19210310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.63, Y:-3.13, Z:-2.19 [[ 9.88031932e-01 1.54249340e-01 2.05394677e-04 8.76345853e+01] [-1.54249338e-01 9.88031954e-01 -2.34066580e-05 -3.12722132e+00] [-2.06546966e-04 -8.55546747e-06 9.99999979e-01 -2.19206395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:-3.13, Z:-2.19 [[ 9.87947447e-01 1.54788157e-01 6.84345093e-04 8.76661295e+01] [-1.54788133e-01 9.87947684e-01 -8.84394376e-05 -3.13069751e+00] [-6.89786527e-04 -1.85549823e-05 9.99999762e-01 -2.19231106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-3.13, Z:-2.19 [[ 9.87992958e-01 1.54494190e-01 1.20811140e-03 8.76983644e+01] [-1.54494111e-01 9.87993697e-01 -1.59024887e-04 -3.13494416e+00] [-1.21817487e-03 -2.95306276e-05 9.99999258e-01 -2.19289384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:-3.14, Z:-2.19 [[ 9.88379917e-01 1.51981119e-01 2.62288044e-03 8.77308284e+01] [-1.51980723e-01 9.88383396e-01 -3.50912303e-04 -3.13955346e+00] [-2.64574352e-03 -5.17925925e-05 9.99996499e-01 -2.19289184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:-3.14, Z:-2.19 [[ 9.88660102e-01 1.50140743e-01 2.99325714e-03 8.77621050e+01] [-1.50140214e-01 9.88664632e-01 -4.01939951e-04 -3.14490060e+00] [-3.01967503e-03 -5.20262753e-05 9.99995439e-01 -2.19342717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:-3.15, Z:-2.19 [[ 9.88995250e-01 1.47924318e-01 2.60610340e-03 8.77947197e+01] [-1.47923910e-01 9.88998683e-01 -3.49704612e-04 -3.14960998e+00] [-2.62916264e-03 -3.96488033e-05 9.99996543e-01 -2.19426209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.83, Y:-3.15, Z:-2.20 [[ 9.89829690e-01 1.42253932e-01 1.00177022e-03 8.78272083e+01] [-1.42253871e-01 9.89830197e-01 -1.31880269e-04 -3.15189283e+00] [-1.01034290e-03 -1.19666856e-05 9.99999490e-01 -2.19584806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:-3.16, Z:-2.20 [[ 9.90264037e-01 1.39193733e-01 1.49707968e-03 8.78600387e+01] [-1.39193590e-01 9.90265169e-01 -1.99531092e-04 -3.15677129e+00] [-1.51027934e-03 -1.07954302e-05 9.99998859e-01 -2.19740769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.89, Y:-3.16, Z:-2.20 [[ 9.90662637e-01 1.36319079e-01 2.15590085e-03 8.78916126e+01] [-1.36318771e-01 9.90664983e-01 -2.89986872e-04 -3.16173675e+00] [-2.17530622e-03 -6.61059539e-06 9.99997634e-01 -2.19788652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-3.17, Z:-2.20 [[ 9.91017814e-01 1.33714266e-01 2.04649273e-03 8.79229160e+01] [-1.33713980e-01 9.91019927e-01 -2.76717547e-04 -3.16577150e+00] [-2.06511616e-03 5.87331457e-07 9.99997868e-01 -2.19757740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:-3.17, Z:-2.20 [[ 9.91603212e-01 1.29298212e-01 2.24552374e-03 8.79559477e+01] [-1.29297858e-01 9.91605754e-01 -3.02648384e-04 -3.16846506e+00] [-2.26580616e-03 9.76569994e-06 9.99997433e-01 -2.19834681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:-3.17, Z:-2.20 [[ 9.91833213e-01 1.27530132e-01 1.71533589e-03 8.79890621e+01] [-1.27529924e-01 9.91834697e-01 -2.30435960e-04 -3.17302155e+00] [-1.73071718e-03 9.79738350e-06 9.99998502e-01 -2.19923203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.02, Y:-3.18, Z:-2.20 [[ 9.92177545e-01 1.24834638e-01 1.79052231e-04 8.80215482e+01] [-1.24834637e-01 9.92177561e-01 -1.99742215e-05 -3.18028649e+00] [-1.80145081e-04 -2.53394624e-06 9.99999984e-01 -2.20151205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.05, Y:-3.19, Z:-2.20 [[ 9.92251074e-01 1.24248713e-01 2.50539356e-04 8.80528348e+01] [-1.24248710e-01 9.92251106e-01 -3.01344813e-05 -3.18632058e+00] [-2.52342123e-04 -1.22822022e-06 9.99999968e-01 -2.20252302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-3.19, Z:-2.20 [[ 9.92289393e-01 1.23938050e-01 1.05890417e-03 8.80852064e+01] [-1.23937970e-01 9.92289957e-01 -1.41048640e-04 -3.19115302e+00] [-1.06822127e-03 8.72263680e-06 9.99999429e-01 -2.20258672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:-3.19, Z:-2.20 [[ 9.92291140e-01 1.23890221e-01 3.08326423e-03 8.81173012e+01] [-1.23889509e-01 9.92295930e-01 -4.21574128e-04 -3.19420046e+00] [-3.11173946e-03 3.63401807e-05 9.99995158e-01 -2.20241869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:-3.20, Z:-2.20 [[ 9.92250948e-01 1.24209888e-01 3.15597091e-03 8.81491840e+01] [-1.24209146e-01 9.92255966e-01 -4.30881032e-04 -3.19953957e+00] [-3.18505065e-03 3.55416608e-05 9.99994927e-01 -2.20291639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.18, Y:-3.21, Z:-2.20 [[ 9.92201957e-01 1.24619799e-01 2.27627703e-03 8.81812316e+01] [-1.24619417e-01 9.92204568e-01 -3.09633187e-04 -3.20539291e+00] [-2.29711890e-03 2.35503381e-05 9.99997361e-01 -2.20356170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.21, Y:-3.21, Z:-2.21 [[ 9.91929233e-01 1.26792708e-01 -7.48357966e-05 8.82131894e+01] [-1.26792707e-01 9.91929236e-01 1.46007982e-05 -3.21100459e+00] [ 7.60830891e-05 -4.99432537e-06 9.99999997e-01 -2.20554632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.25, Y:-3.22, Z:-2.21 [[ 9.91718079e-01 1.28433753e-01 -1.54527237e-04 8.82461917e+01] [-1.28433750e-01 9.91718091e-01 2.59192136e-05 -3.21518453e+00] [ 1.56576358e-04 -5.85804016e-06 9.99999988e-01 -2.20718265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:-3.22, Z:-2.21 [[ 9.91448704e-01 1.30496966e-01 9.81194770e-05 8.82774769e+01] [-1.30496966e-01 9.91448709e-01 -1.07808827e-05 -3.22138762e+00] [-9.86873014e-05 -2.11560183e-06 9.99999995e-01 -2.20830545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.31, Y:-3.23, Z:-2.21 [[ 9.90806512e-01 1.35286557e-01 -5.78634407e-05 8.83097216e+01] [-1.35286556e-01 9.90806514e-01 1.24538059e-05 -3.22841225e+00] [ 5.90163064e-05 -4.51116634e-06 9.99999998e-01 -2.20796727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.34, Y:-3.23, Z:-2.21 [[ 9.90462578e-01 1.37781959e-01 -1.12850686e-04 8.83425270e+01] [-1.37781957e-01 9.90462585e-01 2.01366548e-05 -3.23206748e+00] [ 1.14548850e-04 -4.39581459e-06 9.99999993e-01 -2.20823854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-3.23, Z:-2.21 [[ 9.90145960e-01 1.40038604e-01 4.08721098e-04 8.83752994e+01] [-1.40038595e-01 9.90146044e-01 -5.21614374e-05 -3.23465638e+00] [-4.11998193e-04 -5.58929171e-06 9.99999915e-01 -2.20890423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:-3.24, Z:-2.21 [[ 9.90020971e-01 1.40915214e-01 1.17422215e-03 8.84068491e+01] [-1.40915124e-01 9.90021668e-01 -1.59195663e-04 -3.24008408e+00] [-1.18493846e-03 -7.85861446e-06 9.99999298e-01 -2.21023647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:-3.25, Z:-2.21 [[ 9.90266158e-01 1.39180023e-01 1.36285507e-03 8.84376725e+01] [-1.39179898e-01 9.90267096e-01 -1.85974589e-04 -3.24733891e+00] [-1.37547448e-03 -5.51768759e-06 9.99999054e-01 -2.21100969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:-3.25, Z:-2.21 [[ 9.90578926e-01 1.36922539e-01 2.36849993e-03 8.84688814e+01] [-1.36922149e-01 9.90581757e-01 -3.26722693e-04 -3.25487348e+00] [-2.39092852e-03 -6.55486998e-07 9.99997142e-01 -2.21245888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:-3.27, Z:-2.21 [[ 9.91436988e-01 1.30514940e-01 4.30693793e-03 8.85001887e+01] [-1.30513574e-01 9.91446342e-01 -5.97932809e-04 -3.26653107e+00] [-4.34813702e-03 3.06988437e-05 9.99990546e-01 -2.21402288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:-3.28, Z:-2.21 [[ 9.91756137e-01 1.28043918e-01 4.95170653e-03 8.85308797e+01] [-1.28042073e-01 9.91768497e-01 -6.89291265e-04 -3.27519614e+00] [-4.99920609e-03 4.95820761e-05 9.99987503e-01 -2.21425376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:-3.28, Z:-2.21 [[ 9.91944755e-01 1.26554728e-01 5.43180642e-03 8.85628649e+01] [-1.26552478e-01 9.91959625e-01 -7.57197693e-04 -3.28347168e+00] [-5.48395961e-03 6.36897149e-05 9.99984961e-01 -2.21394854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.59, Y:-3.29, Z:-2.21 [[ 9.91942005e-01 1.26557052e-01 5.86277082e-03 8.85935538e+01] [-1.26554422e-01 9.91959328e-01 -8.19019319e-04 -3.29396594e+00] [-5.91928287e-03 7.04600952e-05 9.99982478e-01 -2.21413458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:-3.30, Z:-2.21 [[ 9.91799482e-01 1.27716444e-01 4.72203191e-03 8.86252276e+01] [-1.27714751e-01 9.91810722e-01 -6.59526767e-04 -3.30273096e+00] [-4.76759429e-03 5.10451751e-05 9.99988634e-01 -2.21480293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:-3.31, Z:-2.22 [[ 9.91582413e-01 1.29436562e-01 3.23958234e-03 8.86572493e+01] [-1.29435778e-01 9.91587704e-01 -4.51536161e-04 -3.31214536e+00] [-3.27077530e-03 2.84174566e-05 9.99994651e-01 -2.21528277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:-3.33, Z:-2.22 [[ 9.91003128e-01 1.33836307e-01 8.02556086e-04 8.86877395e+01] [-1.33836263e-01 9.91003452e-01 -1.08826646e-04 -3.32517657e+00] [-8.09900809e-04 4.36439115e-07 9.99999672e-01 -2.21711137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.72, Y:-3.33, Z:-2.22 [[ 9.90573698e-01 1.36978577e-01 7.86248976e-04 8.87203552e+01] [-1.36978536e-01 9.90574010e-01 -1.06523395e-04 -3.33252467e+00] [-7.93429224e-04 -2.17996058e-06 9.99999685e-01 -2.21895753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.75, Y:-3.34, Z:-2.22 [[ 9.89556224e-01 1.44144181e-01 9.66998125e-04 8.87511495e+01] [-1.44144119e-01 9.89556696e-01 -1.33868564e-04 -3.33987505e+00] [-9.76195844e-04 -6.91662205e-06 9.99999523e-01 -2.22078043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.78, Y:-3.35, Z:-2.22 [[ 9.88990025e-01 1.47976941e-01 1.24700953e-03 8.87835037e+01] [-1.47976841e-01 9.88990811e-01 -1.71987512e-04 -3.34651713e+00] [-1.25873115e-03 -1.44345965e-05 9.99999208e-01 -2.22161966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.81, Y:-3.35, Z:-2.22 [[ 9.88479232e-01 1.51347599e-01 1.64710619e-03 8.88149669e+01] [-1.51347427e-01 9.88480604e-01 -2.29219343e-04 -3.35338370e+00] [-1.66282431e-03 -2.27067230e-05 9.99998617e-01 -2.22149395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-3.36, Z:-2.22 [[ 9.87945143e-01 1.54784739e-01 2.46541485e-03 8.88472524e+01] [-1.54784359e-01 9.87948219e-01 -3.45392074e-04 -3.36023461e+00] [-2.48916363e-03 -4.03792345e-05 9.99996901e-01 -2.22155867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.88, Y:-3.37, Z:-2.22 [[ 9.87160087e-01 1.59692469e-01 3.64383775e-03 8.88791740e+01] [-1.59691662e-01 9.87166809e-01 -5.13310966e-04 -3.36743165e+00] [-3.67904758e-03 -7.51704093e-05 9.99993229e-01 -2.22093750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.37, Z:-2.22 [[ 9.87147063e-01 1.59772968e-01 3.64344843e-03 8.89123051e+01] [-1.59772152e-01 9.87153784e-01 -5.16051546e-04 -3.37227498e+00] [-3.67909500e-03 -7.27028271e-05 9.99993229e-01 -2.22171852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:-3.38, Z:-2.22 [[ 9.86877164e-01 1.61441042e-01 3.20193437e-03 8.89450370e+01] [-1.61440427e-01 9.86882356e-01 -4.51399845e-04 -3.37811605e+00] [-3.23280700e-03 -7.14454526e-05 9.99994772e-01 -2.22197821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.98, Y:-3.38, Z:-2.22 [[ 9.86577542e-01 1.63248723e-01 3.82210009e-03 8.89773837e+01] [-1.63247854e-01 9.86584941e-01 -5.40367271e-04 -3.38410776e+00] [-3.85904065e-03 -9.08354227e-05 9.99992550e-01 -2.22331594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:-3.39, Z:-2.22 [[ 9.86644891e-01 1.62839687e-01 3.88533989e-03 8.90085562e+01] [-1.62838781e-01 9.86652537e-01 -5.50390470e-04 -3.38884750e+00] [-3.92310587e-03 -8.96440673e-05 9.99992301e-01 -2.22491625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:-3.39, Z:-2.23 [[ 9.86814574e-01 1.61819939e-01 3.36204530e-03 8.90397653e+01] [-1.61819251e-01 9.86820299e-01 -4.77516259e-04 -3.39424647e+00] [-3.39500620e-03 -7.28236476e-05 9.99994234e-01 -2.22649926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:-3.41, Z:-2.23 [[ 9.87471113e-01 1.57740092e-01 4.34323118e-03 8.90707938e+01] [-1.57738903e-01 9.87480662e-01 -6.17163566e-04 -3.40526501e+00] [-4.38620824e-03 -7.56653284e-05 9.99990378e-01 -2.22686774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.10, Y:-3.41, Z:-2.23 [[ 9.87817421e-01 1.55528712e-01 5.24990449e-03 8.91033956e+01] [-1.55526936e-01 9.87831369e-01 -7.47356088e-04 -3.41347748e+00] [-5.30225567e-03 -7.82501971e-05 9.99985940e-01 -2.22638002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:-3.42, Z:-2.23 [[ 9.88117224e-01 1.53604299e-01 5.48361787e-03 8.91353406e+01] [-1.53602324e-01 9.88132438e-01 -7.82143248e-04 -3.41909101e+00] [-5.53868126e-03 -6.94472333e-05 9.99984659e-01 -2.22640197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-3.42, Z:-2.23 [[ 9.88677022e-01 1.49958764e-01 5.48771321e-03 8.91677427e+01] [-1.49956724e-01 9.88692251e-01 -7.83601744e-04 -3.42177275e+00] [-5.54316747e-03 -4.81904583e-05 9.99984635e-01 -2.22840982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:-3.43, Z:-2.23 [[ 9.88887509e-01 1.48560317e-01 5.59708587e-03 8.92002884e+01] [-1.48558167e-01 9.88903347e-01 -8.00349824e-04 -3.42710188e+00] [-5.65387718e-03 -4.00368736e-05 9.99984016e-01 -2.22988797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.23, Y:-3.43, Z:-2.23 [[ 9.89052449e-01 1.47468467e-01 5.32019937e-03 8.92327747e+01] [-1.47466504e-01 9.89066757e-01 -7.61576066e-04 -3.43407510e+00] [-5.37434079e-03 -3.13125263e-05 9.99985558e-01 -2.23103742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.26, Y:-3.44, Z:-2.23 [[ 9.89110793e-01 1.47088278e-01 4.98765795e-03 8.92646878e+01] [-1.47086544e-01 9.89123368e-01 -7.14613785e-04 -3.44461620e+00] [-5.03852034e-03 -2.67851653e-05 9.99987306e-01 -2.23112460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:-3.45, Z:-2.23 [[ 9.89034608e-01 1.47561624e-01 6.00932788e-03 8.92969228e+01] [-1.47559104e-01 9.89052863e-01 -8.63085586e-04 -3.45123020e+00] [-6.07090125e-03 -3.31095211e-05 9.99981571e-01 -2.23089949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.33, Y:-3.46, Z:-2.23 [[ 9.88978926e-01 1.47909557e-01 6.59146310e-03 8.93285481e+01] [-1.47906520e-01 9.89000891e-01 -9.48627103e-04 -3.45767177e+00] [-6.65927389e-03 -3.67481539e-05 9.99977826e-01 -2.23033014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:-3.46, Z:-2.23 [[ 9.89013260e-01 1.47711488e-01 5.83843774e-03 8.93612703e+01] [-1.47709099e-01 9.89030493e-01 -8.40643293e-04 -3.46340013e+00] [-5.89856563e-03 -3.09830167e-05 9.99982603e-01 -2.23160635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:-3.47, Z:-2.23 [[ 9.89140281e-01 1.46888377e-01 5.03091420e-03 8.93939487e+01] [-1.46886590e-01 9.89153074e-01 -7.24755396e-04 -3.46808425e+00] [-5.08280239e-03 -2.20890772e-05 9.99987082e-01 -2.23319633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.43, Y:-3.47, Z:-2.23 [[ 9.89327351e-01 1.45632376e-01 4.75441743e-03 8.94268807e+01] [-1.45630763e-01 9.89338775e-01 -6.85542294e-04 -3.47190898e+00] [-4.80356667e-03 -1.41636986e-05 9.99988463e-01 -2.23476791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:-3.48, Z:-2.24 [[ 9.89705634e-01 1.43007462e-01 5.62343647e-03 8.94586992e+01] [-1.43005145e-01 9.89721610e-01 -8.14031008e-04 -3.47723831e+00] [-5.68204911e-03 1.47072650e-06 9.99983857e-01 -2.23701490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:-3.49, Z:-2.24 [[ 9.89857808e-01 1.41943099e-01 5.80308948e-03 8.94906652e+01] [-1.41940617e-01 9.89874819e-01 -8.39531985e-04 -3.48590965e+00] [-5.86349792e-03 7.32318995e-06 9.99982810e-01 -2.23749165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.52, Y:-3.50, Z:-2.24 [[ 9.90082560e-01 1.40375675e-01 5.58525005e-03 8.95218260e+01] [-1.40373345e-01 9.90098313e-01 -8.08943134e-04 -3.49841327e+00] [-5.64350259e-03 1.69002549e-05 9.99984075e-01 -2.23625798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.55, Y:-3.51, Z:-2.24 [[ 9.90133935e-01 1.39995360e-01 6.00750067e-03 8.95532361e+01] [-1.39992641e-01 9.90152159e-01 -8.72877054e-04 -3.50525657e+00] [-6.07053850e-03 2.32593082e-05 9.99981574e-01 -2.23768874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:89.59, Y:-3.51, Z:-2.24 [[ 9.90103589e-01 1.40191914e-01 6.41172350e-03 8.95855722e+01] [-1.40188823e-01 9.90124349e-01 -9.31328473e-04 -3.51145441e+00] [-6.47896827e-03 2.32596963e-05 9.99979011e-01 -2.23761532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.62, Y:-3.52, Z:-2.24 [[ 9.90043941e-01 1.40552214e-01 7.62043678e-03 8.96169304e+01] [-1.40547837e-01 9.90073267e-01 -1.10945696e-03 -3.51866237e+00] [-7.70072737e-03 2.73752295e-05 9.99970349e-01 -2.23921778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.65, Y:-3.53, Z:-2.24 [[ 9.89729164e-01 1.42739337e-01 7.85261166e-03 8.96487150e+01] [-1.42734747e-01 9.89760315e-01 -1.14471700e-03 -3.52616901e+00] [-7.93559954e-03 1.21192580e-05 9.99968513e-01 -2.23922662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:-3.53, Z:-2.24 [[ 9.89459107e-01 1.44651979e-01 6.81762681e-03 8.96799142e+01] [-1.44648558e-01 9.89482595e-01 -9.94780375e-04 -3.53178360e+00] [-6.88982002e-03 -1.86538814e-06 9.99976265e-01 -2.24044251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:-3.55, Z:-2.24 [[ 9.89051279e-01 1.47508123e-01 4.34984402e-03 8.97110726e+01] [-1.47531730e-01 9.89040758e-01 5.72437725e-03 -3.54613313e+00] [-3.45778088e-03 -6.30344265e-03 9.99974155e-01 -2.23873066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:-3.55, Z:-2.25 [[ 9.88930128e-01 1.48346209e-01 3.25640524e-03 8.97421668e+01] [-1.48321444e-01 9.88915461e-01 -6.85282468e-03 -3.54675716e+00] [-4.23690005e-03 6.29397006e-03 9.99971217e-01 -2.24561645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.77, Y:-3.56, Z:-2.24 [[ 9.88763486e-01 1.49422643e-01 4.43192207e-03 8.97741079e+01] [-1.49421244e-01 9.88773419e-01 -6.46834680e-04 -3.55757543e+00] [-4.47881849e-03 -2.26567975e-05 9.99989970e-01 -2.24446634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:-3.56, Z:-2.25 [[ 9.88320854e-01 1.52316393e-01 4.64820211e-03 8.98072495e+01] [-1.52314882e-01 9.88331784e-01 -6.79526115e-04 -3.56149864e+00] [-4.69746885e-03 -3.64005248e-05 9.99988966e-01 -2.24614921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:-3.57, Z:-2.25 [[ 9.88084097e-01 1.53837400e-01 4.88577172e-03 8.98384646e+01] [-1.53835742e-01 9.88096176e-01 -7.15682749e-04 -3.56663560e+00] [-4.93771113e-03 -4.44515729e-05 9.99987808e-01 -2.24688622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:-3.57, Z:-2.25 [[ 9.87869668e-01 1.55194481e-01 5.30958857e-03 8.98704726e+01] [-1.55192537e-01 9.87883935e-01 -7.78777216e-04 -3.57260986e+00] [-5.36611918e-03 -5.46781303e-05 9.99985601e-01 -2.24745758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.90, Y:-3.58, Z:-2.25 [[ 9.87656364e-01 1.56552802e-01 5.11150304e-03 8.99034107e+01] [-1.56551014e-01 9.87669589e-01 -7.50460644e-04 -3.57829485e+00] [-5.16596282e-03 -5.90137554e-05 9.99986655e-01 -2.24793602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:-3.58, Z:-2.25 [[ 9.87434643e-01 1.57983370e-01 3.75244602e-03 8.99351769e+01] [-1.57982418e-01 9.87441772e-01 -5.50715204e-04 -3.58309051e+00] [-3.79232579e-03 -4.90252256e-05 9.99992808e-01 -2.24943963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:-3.59, Z:-2.25 [[ 9.87458616e-01 1.57826944e-01 4.01710026e-03 8.99670422e+01] [-1.57825847e-01 9.87466786e-01 -5.90651167e-04 -3.58927299e+00] [-4.05997375e-03 -5.07586654e-05 9.99991757e-01 -2.24988807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:-3.60, Z:-2.25 [[ 9.87762717e-01 1.55838300e-01 6.26417812e-03 8.99981554e+01] [-1.55835569e-01 9.87782577e-01 -9.24700283e-04 -3.59803137e+00] [-6.33174972e-03 -6.27972987e-05 9.99979952e-01 -2.24874352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.03, Y:-3.60, Z:-2.25 [[ 9.87977684e-01 1.54389279e-01 8.00287972e-03 9.00304133e+01] [-1.54384755e-01 9.88010094e-01 -1.18383240e-03 -3.60295174e+00] [-8.08969697e-03 -6.59226320e-05 9.99967276e-01 -2.24945884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.06, Y:-3.61, Z:-2.25 [[ 9.88215445e-01 1.52814456e-01 8.83044153e-03 9.00626471e+01] [-1.52808865e-01 9.88254896e-01 -1.30840670e-03 -3.60707550e+00] [-8.92667053e-03 -5.63820445e-05 9.99960155e-01 -2.25021875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:-3.61, Z:-2.25 [[ 9.88934958e-01 1.48177819e-01 7.14028807e-03 9.00953345e+01] [-1.48174040e-01 9.88960734e-01 -1.05833476e-03 -3.61157688e+00] [-7.21828626e-03 -1.13810895e-05 9.99973948e-01 -2.25276758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.13, Y:-3.62, Z:-2.25 [[ 9.89314014e-01 1.45624334e-01 7.16488870e-03 9.01269217e+01] [-1.45620442e-01 9.89339958e-01 -1.06463454e-03 -3.61879198e+00] [-7.24354739e-03 9.90360479e-06 9.99973765e-01 -2.25419344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.16, Y:-3.63, Z:-2.26 [[ 9.89664282e-01 1.43186493e-01 7.88904506e-03 9.01573667e+01] [-1.43181695e-01 9.89695725e-01 -1.17267168e-03 -3.62803539e+00] [-7.97566492e-03 3.09844329e-05 9.99968193e-01 -2.25517446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382200001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:90.19, Y:-3.64, Z:-2.25 [[ 9.89999383e-01 1.40861783e-01 7.69287920e-03 9.01894302e+01] [-1.40857142e-01 9.90029270e-01 -1.14447761e-03 -3.63806619e+00] [-7.77738874e-03 4.94351504e-05 9.99969754e-01 -2.25468462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-3.65, Z:-2.26 [[ 9.90379984e-01 1.38209346e-01 6.75746071e-03 9.02208248e+01] [-1.38205698e-01 9.90403036e-01 -1.00610969e-03 -3.65420413e+00] [-6.83166336e-03 6.25113291e-05 9.99976662e-01 -2.25511473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:-3.66, Z:-2.26 [[ 9.90350170e-01 1.38453126e-01 6.10509253e-03 9.02530588e+01] [-1.38450149e-01 9.90368986e-01 -9.09753202e-04 -3.66166146e+00] [-6.17225247e-03 5.57232697e-05 9.99980950e-01 -2.25619438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:-3.67, Z:-2.26 [[ 9.89951782e-01 1.41322313e-01 4.84482157e-03 9.02848278e+01] [-1.41320470e-01 9.89963637e-01 -7.22227313e-04 -3.66685876e+00] [-4.89826402e-03 3.02977524e-05 9.99988003e-01 -2.25918008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.32, Y:-3.67, Z:-2.26 [[ 9.89656476e-01 1.43362685e-01 5.21546802e-03 9.03174550e+01] [-1.43360571e-01 9.89670218e-01 -7.78826069e-04 -3.67354058e+00] [-5.27324797e-03 2.30777892e-05 9.99986096e-01 -2.26131211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.35, Y:-3.68, Z:-2.26 [[ 9.89191206e-01 1.46458060e-01 7.12708757e-03 9.03467340e+01] [-1.46481949e-01 9.89208941e-01 2.95117115e-03 -3.68400023e+00] [-6.61795595e-03 -3.96326223e-03 9.99970247e-01 -2.26100268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-3.69, Z:-2.26 [[ 9.88204006e-01 1.53109081e-01 3.23293484e-03 9.03798281e+01] [-1.53094270e-01 9.88201710e-01 -4.41862658e-03 -3.69182207e+00] [-3.87132359e-03 3.87156069e-03 9.99985012e-01 -2.26182664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-3.70, Z:-2.26 [[ 9.87546233e-01 1.57299113e-01 3.07036440e-03 9.04102004e+01] [-1.57298444e-01 9.87551005e-01 -4.59482606e-04 -3.70186699e+00] [-3.10441766e-03 -2.92032259e-05 9.99995181e-01 -2.26068297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.44, Y:-3.71, Z:-2.26 [[ 9.86055407e-01 1.66403709e-01 2.13080793e-03 9.04420579e+01] [-1.66403413e-01 9.86057708e-01 -3.16636735e-04 -3.70951824e+00] [-2.15378911e-03 -4.23523488e-05 9.99997680e-01 -2.26056738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.47, Y:-3.71, Z:-2.26 [[ 9.85202911e-01 1.71377908e-01 2.19927621e-03 9.04733723e+01] [-1.71377603e-01 9.85205364e-01 -3.27691331e-04 -3.71400668e+00] [-2.22289778e-03 -5.40642332e-05 9.99997528e-01 -2.26149733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:-3.72, Z:-2.26 [[ 9.84281206e-01 1.76583768e-01 2.94631571e-03 9.05062088e+01] [-1.76583240e-01 9.84285612e-01 -4.40761416e-04 -3.71757913e+00] [-2.97784748e-03 -8.64367959e-05 9.99995562e-01 -2.26295436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.54, Y:-3.72, Z:-2.26 [[ 9.83378734e-01 1.81516498e-01 4.24570641e-03 9.05383409e+01] [-1.81515433e-01 9.83387889e-01 -6.38178018e-04 -3.71985993e+00] [-4.29101611e-03 -1.43090544e-04 9.99990783e-01 -2.26438628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.57, Y:-3.72, Z:-2.27 [[ 9.81780570e-01 1.89925777e-01 5.92543638e-03 9.05710978e+01] [-1.89923837e-01 9.81798420e-01 -8.93457910e-04 -3.71848395e+00] [-5.98727477e-03 -2.48201999e-04 9.99982045e-01 -2.26533865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-3.72, Z:-2.27 [[ 9.81157522e-01 1.93091248e-01 6.75917373e-03 9.06038050e+01] [-1.93088789e-01 9.81180757e-01 -1.02070593e-03 -3.72133079e+00] [-6.82906058e-03 -3.03647371e-04 9.99976636e-01 -2.26573235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.64, Y:-3.73, Z:-2.27 [[ 9.80695019e-01 1.95396608e-01 7.57934080e-03 9.06363329e+01] [-1.95393569e-01 9.80724242e-01 -1.14651811e-03 -3.72531754e+00] [-7.65726901e-03 -3.56569857e-04 9.99970619e-01 -2.26584342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.67, Y:-3.72, Z:-2.27 [[ 9.80357453e-01 1.97125484e-01 6.38812392e-03 9.06687821e+01] [-1.97123352e-01 9.80378216e-01 -9.68041469e-04 -3.72428099e+00] [-6.45360318e-03 -3.10221728e-04 9.99979127e-01 -2.26653787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:-3.72, Z:-2.27 [[ 9.80401099e-01 1.96933362e-01 5.56208942e-03 9.07015510e+01] [-1.96931747e-01 9.80416839e-01 -8.41908050e-04 -3.72490179e+00] [-5.61896591e-03 -2.69944411e-04 9.99984177e-01 -2.26828386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:90.74, Y:-3.72, Z:-2.27 [[ 9.80997770e-01 1.93927630e-01 5.95403826e-03 9.07357953e+01] [-1.93925716e-01 9.81015801e-01 -9.02605822e-04 -3.72160339e+00] [-6.01604582e-03 -2.69186833e-04 9.99981867e-01 -2.26892189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.77, Y:-3.72, Z:-2.27 [[ 9.81373985e-01 1.92015345e-01 5.93363606e-03 9.07675851e+01] [-1.92013401e-01 9.81391890e-01 -9.00848105e-04 -3.72315015e+00] [-5.99619897e-03 -2.55268748e-04 9.99981990e-01 -2.27037302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.80, Y:-3.72, Z:-2.27 [[ 9.81833518e-01 1.89666623e-01 5.43270333e-03 9.08000522e+01] [-1.89664955e-01 9.81848524e-01 -8.25279773e-04 -3.72391380e+00] [-5.49061977e-03 -2.20106087e-04 9.99984902e-01 -2.27085005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.83, Y:-3.72, Z:-2.27 [[ 9.83116302e-01 1.82914084e-01 4.97749417e-03 9.08337738e+01] [-1.82912595e-01 9.83128888e-01 -7.56670632e-04 -3.71848965e+00] [-5.03192402e-03 -1.66551141e-04 9.99987326e-01 -2.27258102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:-3.72, Z:-2.27 [[ 9.83876645e-01 1.78796101e-01 4.32456718e-03 9.08673945e+01] [-1.78794936e-01 9.83886141e-01 -6.57624577e-04 -3.71919794e+00] [-4.37246242e-03 -1.26189249e-04 9.99990433e-01 -2.27380747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:-3.72, Z:-2.27 [[ 9.84668488e-01 1.74407826e-01 3.14325669e-03 9.08990921e+01] [-1.74407189e-01 9.84673501e-01 -4.77622686e-04 -3.72067343e+00] [-3.17838270e-03 -7.79065552e-05 9.99994946e-01 -2.27460205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:-3.73, Z:-2.28 [[ 9.84654112e-01 1.74488975e-01 3.14288413e-03 9.09321643e+01] [-1.74488331e-01 9.84659125e-01 -4.80053755e-04 -3.72587718e+00] [-3.17843362e-03 -7.57097021e-05 9.99994946e-01 -2.27538599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.96, Y:-3.73, Z:-2.28 [[ 9.85491224e-01 1.69710572e-01 2.31701243e-03 9.09642037e+01] [-1.69710215e-01 9.85493947e-01 -3.51615712e-04 -3.72770255e+00] [-2.34307463e-03 -4.67064779e-05 9.99997254e-01 -2.27610322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.00, Y:-3.72, Z:-2.28 [[ 9.87241372e-01 1.59196635e-01 3.30211522e-03 9.09970411e+01] [-1.59195842e-01 9.87246894e-01 -5.03320136e-04 -3.72365375e+00] [-3.34012986e-03 -2.87845503e-05 9.99994421e-01 -2.27691702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-3.72, Z:-2.28 [[ 9.88158937e-01 1.53373239e-01 4.30859844e-03 9.10292986e+01] [-1.53371824e-01 9.88168331e-01 -6.58863551e-04 -3.72485640e+00] [-4.35867257e-03 -9.75569654e-06 9.99990501e-01 -2.27701473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:-3.73, Z:-2.28 [[ 9.89098230e-01 1.47171174e-01 5.03363498e-03 9.10623113e+01] [-1.47169154e-01 9.89111038e-01 -7.71260126e-04 -3.72775556e+00] [-5.09233118e-03 2.20562228e-05 9.99987034e-01 -2.27704633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:-3.73, Z:-2.28 [[ 9.90920467e-01 1.34295602e-01 6.42794598e-03 9.10948391e+01] [-1.34292020e-01 9.90941309e-01 -9.87579054e-04 -3.72857209e+00] [-6.50234473e-03 1.15390446e-04 9.99978853e-01 -2.27604670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:-3.73, Z:-2.28 [[ 9.91710122e-01 1.28307115e-01 6.95113475e-03 9.11283192e+01] [-1.28302771e-01 9.91734468e-01 -1.06926015e-03 -3.73066436e+00] [-7.03087361e-03 1.68546265e-04 9.99975269e-01 -2.27658260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:-3.73, Z:-2.28 [[ 9.93061613e-01 1.17391327e-01 6.92157203e-03 9.11615719e+01] [-1.17386744e-01 9.93085704e-01 -1.06606665e-03 -3.73225506e+00] [-6.99886121e-03 2.46169062e-04 9.99975477e-01 -2.27821377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.19, Y:-3.74, Z:-2.28 [[ 9.93640237e-01 1.12442319e-01 5.98359584e-03 9.11930605e+01] [-1.12438800e-01 9.93658224e-01 -9.22410835e-04 -3.73769681e+00] [-6.04936722e-03 2.43756185e-04 9.99981673e-01 -2.27954101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:-3.74, Z:-2.28 [[ 9.94113557e-01 1.08221476e-01 5.13303490e-03 9.12258725e+01] [-1.08218830e-01 9.94126782e-01 -7.91435760e-04 -3.74382548e+00] [-5.18853782e-03 2.31285989e-04 9.99986513e-01 -2.28134900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:-3.75, Z:-2.28 [[ 9.94578174e-01 1.03900522e-01 4.35161849e-03 9.12579430e+01] [-1.03898578e-01 9.94587671e-01 -6.71142825e-04 -3.74975800e+00] [-4.39779819e-03 2.15377033e-04 9.99990306e-01 -2.28203680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:-3.75, Z:-2.28 [[ 9.94559912e-01 1.04067448e-01 4.53293433e-03 9.12901900e+01] [-1.04065335e-01 9.94570217e-01 -7.00177565e-04 -3.75484326e+00] [-4.58118717e-03 2.24647206e-04 9.99989481e-01 -2.28207090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:-3.76, Z:-2.28 [[ 9.94416901e-01 1.05427386e-01 4.48258494e-03 9.13221886e+01] [-1.05425329e-01 9.94426980e-01 -6.93467787e-04 -3.76007218e+00] [-4.53071390e-03 2.17018095e-04 9.99989713e-01 -2.28198853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.35, Y:-3.76, Z:-2.28 [[ 9.94178142e-01 1.07686920e-01 3.65378345e-03 9.13543749e+01] [-1.07685571e-01 9.94184841e-01 -5.64662854e-04 -3.76483208e+00] [-3.69334292e-03 1.67915710e-04 9.99993165e-01 -2.28198898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-3.77, Z:-2.28 [[ 9.93475200e-01 1.14038535e-01 1.49643042e-03 9.13863915e+01] [-1.14038317e-01 9.93476325e-01 -2.30435098e-04 -3.76838719e+00] [-1.51294667e-03 5.82811485e-05 9.99998854e-01 -2.28284949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.42, Y:-3.77, Z:-2.28 [[ 9.92982945e-01 1.18249574e-01 1.38150001e-03 9.14178210e+01] [-1.18249394e-01 9.92983905e-01 -2.11457122e-04 -3.77266929e+00] [-1.39681199e-03 4.66117766e-05 9.99999023e-01 -2.28384036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-3.78, Z:-2.28 [[ 9.92436337e-01 1.22748153e-01 1.73444086e-03 9.14504518e+01] [-1.22747875e-01 9.92437851e-01 -2.66461782e-04 -3.77691910e+00] [-1.75403245e-03 5.15474256e-05 9.99998460e-01 -2.28487681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:-3.78, Z:-2.29 [[ 9.91339689e-01 1.31297040e-01 2.59018598e-03 9.14822787e+01] [-1.31296440e-01 9.91343071e-01 -4.01088939e-04 -3.78114301e+00] [-2.62042472e-03 5.75331848e-05 9.99996565e-01 -2.28664393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:-3.79, Z:-2.29 [[ 9.90859744e-01 1.34868467e-01 2.73207894e-03 9.15135539e+01] [-1.34867811e-01 9.90863509e-01 -4.23853457e-04 -3.78826085e+00] [-2.76428179e-03 5.15098241e-05 9.99996178e-01 -2.28821359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.55, Y:-3.80, Z:-2.29 [[ 9.90502415e-01 1.37485932e-01 1.60765906e-03 9.15450984e+01] [-1.37485710e-01 9.90503719e-01 -2.48172036e-04 -3.79580641e+00] [-1.62651244e-03 2.47848540e-05 9.99998677e-01 -2.28897656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.58, Y:-3.80, Z:-2.29 [[ 9.90170257e-01 1.39867133e-01 -2.17773200e-04 9.15778255e+01] [-1.39867128e-01 9.90170281e-01 3.87316253e-05 -3.80290226e+00] [ 2.21049832e-04 -7.89159124e-06 9.99999976e-01 -2.28995659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.61, Y:-3.81, Z:-2.29 [[ 9.89592242e-01 1.43890166e-01 -1.67775562e-03 9.16099067e+01] [-1.43889918e-01 9.89593664e-01 2.68435825e-04 -3.80945684e+00] [ 1.69892161e-03 -2.42298911e-05 9.99998557e-01 -2.29197284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:-3.82, Z:-2.29 [[ 9.89281869e-01 1.46016437e-01 -7.64102447e-04 9.16418567e+01] [-1.46016384e-01 9.89282164e-01 1.24882972e-04 -3.81612849e+00] [ 7.74147889e-04 -1.19729836e-05 9.99999700e-01 -2.29227635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:-3.82, Z:-2.29 [[ 9.88905033e-01 1.48549065e-01 1.07091848e-04 9.16740240e+01] [-1.48549064e-01 9.88905039e-01 -1.22192303e-05 -3.82263459e+00] [-1.07718823e-04 -3.82473549e-06 9.99999994e-01 -2.29221937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.71, Y:-3.83, Z:-2.29 [[ 9.88138271e-01 1.53564525e-01 8.32642326e-04 9.17056252e+01] [-1.53564473e-01 9.88138622e-01 -1.27136151e-04 -3.83047181e+00] [-8.42289644e-04 -2.23618279e-06 9.99999645e-01 -2.29182676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.74, Y:-3.84, Z:-2.29 [[ 9.87736516e-01 1.56126014e-01 1.11495237e-03 9.17368229e+01] [-1.56125920e-01 9.87737145e-01 -1.71987122e-04 -3.83803972e+00] [-1.12813153e-03 -4.19500272e-06 9.99999364e-01 -2.29196423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.77, Y:-3.85, Z:-2.29 [[ 9.86851717e-01 1.61578691e-01 4.00200727e-03 9.17687055e+01] [-1.61577469e-01 9.86859831e-01 -6.28862334e-04 -3.84710430e+00] [-4.05103097e-03 -2.60403315e-05 9.99991794e-01 -2.29158783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.80, Y:-3.85, Z:-2.29 [[ 9.86399112e-01 1.64280828e-01 5.34803450e-03 9.18005306e+01] [-1.64278670e-01 9.86413609e-01 -8.43242107e-04 -3.85292839e+00] [-5.41390252e-03 -4.67947299e-05 9.99985344e-01 -2.29196719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.83, Y:-3.86, Z:-2.29 [[ 9.85987692e-01 1.66704824e-01 6.14588953e-03 9.18328958e+01] [-1.66702012e-01 9.86006844e-01 -9.70688913e-04 -3.85901226e+00] [-6.22170767e-03 -6.74448276e-05 9.99980643e-01 -2.29201399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:-3.86, Z:-2.29 [[ 9.85664695e-01 1.68599706e-01 6.26478864e-03 9.18643304e+01] [-1.68596812e-01 9.85684601e-01 -9.90984705e-04 -3.86497513e+00] [-6.34218542e-03 -7.94447539e-05 9.99979885e-01 -2.29226513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.90, Y:-3.87, Z:-2.29 [[ 9.85491569e-01 1.69618435e-01 5.99618013e-03 9.18958280e+01] [-1.69615791e-01 9.85509807e-01 -9.50518940e-04 -3.87187057e+00] [-6.07051986e-03 -8.03184324e-05 9.99981571e-01 -2.29320643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.93, Y:-3.88, Z:-2.29 [[ 9.85476962e-01 1.69745031e-01 4.66716679e-03 9.19277922e+01] [-1.69743438e-01 9.85488011e-01 -7.38328874e-04 -3.87816813e+00] [-4.72476458e-03 -6.46148402e-05 9.99988836e-01 -2.29406571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.96, Y:-3.88, Z:-2.30 [[ 9.85511699e-01 1.69598949e-01 1.69960194e-03 9.19603826e+01] [-1.69598741e-01 9.85513164e-01 -2.66343059e-04 -3.88236302e+00] [-1.72015159e-03 -2.57661493e-05 9.99998520e-01 -2.29620445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:-3.89, Z:-2.30 [[ 9.85500793e-01 1.69660544e-01 1.86747113e-03 9.19930961e+01] [-1.69660293e-01 9.85502562e-01 -2.93449898e-04 -3.88761810e+00] [-1.89018446e-03 -2.76405917e-05 9.99998213e-01 -2.29805372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:-3.89, Z:-2.30 [[ 9.85500310e-01 1.69648978e-01 2.89203419e-03 9.20257247e+01] [-1.69648366e-01 9.85504552e-01 -4.57488979e-04 -3.89403706e+00] [-2.92772540e-03 -3.97733453e-05 9.99995713e-01 -2.29803021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:-3.90, Z:-2.30 [[ 9.85526657e-01 1.69459125e-01 4.56212277e-03 9.20571211e+01] [-1.69457578e-01 9.85537215e-01 -7.26534524e-04 -3.90087589e+00] [-4.61925967e-03 -5.70671322e-05 9.99989330e-01 -2.29814872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:-3.91, Z:-2.30 [[ 9.85685839e-01 1.68539827e-01 4.21350558e-03 9.20895046e+01] [-1.68538503e-01 9.85694843e-01 -6.69926242e-04 -3.90766337e+00] [-4.26613998e-03 -4.98011129e-05 9.99990899e-01 -2.29650375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:-3.91, Z:-2.30 [[ 9.85794579e-01 1.67909408e-01 3.93434173e-03 9.21226735e+01] [-1.67908247e-01 9.85802429e-01 -6.26027490e-04 -3.91200500e+00] [-3.98359954e-03 -4.34739152e-05 9.99992064e-01 -2.29705799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:-3.92, Z:-2.30 [[ 9.85999658e-01 1.66709848e-01 3.53554885e-03 9.21547204e+01] [-1.66708901e-01 9.86005997e-01 -5.63049808e-04 -3.91647280e+00] [-3.57993831e-03 -3.42405429e-05 9.99993591e-01 -2.29853346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.19, Y:-3.92, Z:-2.30 [[ 9.86712247e-01 1.62467248e-01 1.82608719e-03 9.21863572e+01] [-1.62466988e-01 9.86713937e-01 -2.90417473e-04 -3.92103869e+00] [-1.84900901e-03 -1.01204088e-05 9.99998291e-01 -2.30043418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.22, Y:-3.93, Z:-2.30 [[ 9.87116175e-01 1.60000647e-01 1.20408435e-03 9.22177973e+01] [-1.60000535e-01 9.87116909e-01 -1.89507734e-04 -3.92592408e+00] [-1.21889338e-03 -5.58799003e-06 9.99999257e-01 -2.30135909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.25, Y:-3.93, Z:-2.30 [[ 9.87989662e-01 1.54512545e-01 1.51704287e-03 9.22498535e+01] [-1.54512360e-01 9.87990827e-01 -2.39567369e-04 -3.93246721e+00] [-1.53584060e-03 2.28821059e-06 9.99998821e-01 -2.30264427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:-3.94, Z:-2.30 [[ 9.88401795e-01 1.51851299e-01 1.75335986e-03 9.22817328e+01] [-1.51851045e-01 9.88403350e-01 -2.77876687e-04 -3.93999597e+00] [-1.77522269e-03 8.40428829e-06 9.99998424e-01 -2.30352262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:-3.95, Z:-2.30 [[ 9.88744766e-01 1.49597694e-01 2.07782001e-03 9.23128043e+01] [-1.49597329e-01 9.88746949e-01 -3.30856347e-04 -3.94774441e+00] [-2.10393354e-03 1.62961569e-05 9.99997787e-01 -2.30412969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.35, Y:-3.95, Z:-2.30 [[ 9.88992572e-01 1.47957289e-01 1.52713020e-03 9.23453873e+01] [-1.47957092e-01 9.88993751e-01 -2.42103537e-04 -3.95443593e+00] [-1.54614321e-03 1.34888568e-05 9.99998805e-01 -2.30430794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:-3.96, Z:-2.31 [[ 9.89370308e-01 1.45416488e-01 -6.62770202e-04 9.23770540e+01] [-1.45416446e-01 9.89370530e-01 1.11731660e-04 -3.96167148e+00] [ 6.71972931e-04 -1.41662999e-05 9.99999774e-01 -2.30578065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:-3.97, Z:-2.31 [[ 9.89454198e-01 1.44837130e-01 -1.61107358e-03 9.24093746e+01] [-1.44836890e-01 9.89455509e-01 2.65428312e-04 -3.96839885e+00] [ 1.63252950e-03 -2.92862718e-05 9.99998667e-01 -2.30725592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:-3.97, Z:-2.31 [[ 9.89378614e-01 1.45340151e-01 -2.48963693e-03 9.24421049e+01] [-1.45339584e-01 9.89381746e-01 4.08170604e-04 -3.97489221e+00] [ 2.52252491e-03 -4.19924712e-05 9.99996818e-01 -2.30774151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:-3.98, Z:-2.31 [[ 9.88812214e-01 1.49150596e-01 -2.12258328e-03 9.24743576e+01] [-1.49150191e-01 9.88814492e-01 3.49095283e-04 -3.98043649e+00] [ 2.15090888e-03 -2.86059785e-05 9.99997686e-01 -2.30755241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.51, Y:-3.99, Z:-2.31 [[ 9.88355694e-01 1.52158360e-01 -9.24788293e-04 9.25062471e+01] [-1.52158282e-01 9.88356127e-01 1.54546600e-04 -3.98569863e+00] [ 9.37535732e-04 -1.20328147e-05 9.99999560e-01 -2.30770767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.54, Y:-3.99, Z:-2.31 [[ 9.87777430e-01 1.55870711e-01 -2.66531841e-04 9.25380660e+01] [-1.55870704e-01 9.87777466e-01 4.74125295e-05 -3.99103249e+00] [ 2.70664371e-04 -5.28852092e-06 9.99999963e-01 -2.30769766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.57, Y:-4.00, Z:-2.31 [[ 9.86294363e-01 1.64993799e-01 -6.90209701e-04 9.25707552e+01] [-1.64993757e-01 9.86294604e-01 1.16953464e-04 -3.99627924e+00] [ 7.00046700e-04 -1.47025027e-06 9.99999755e-01 -2.30711931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:-4.00, Z:-2.31 [[ 9.85486354e-01 1.69754314e-01 -3.43831957e-04 9.26023825e+01] [-1.69754304e-01 9.85486414e-01 6.02744641e-05 -4.00093849e+00] [ 3.49073573e-04 -1.03270741e-06 9.99999939e-01 -2.30772210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:-4.00, Z:-2.31 [[ 9.84729681e-01 1.74090342e-01 -8.91923086e-05 9.26354883e+01] [-1.74090341e-01 9.84729685e-01 1.92124900e-05 -4.00436539e+00] [ 9.11750228e-05 -3.39158977e-06 9.99999996e-01 -2.30823730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:-4.00, Z:-2.31 [[ 9.83735595e-01 1.79618967e-01 1.14282938e-03 9.26678919e+01] [-1.79618876e-01 9.83736258e-01 -1.82451391e-04 -4.00349136e+00] [-1.15701442e-03 -2.57898005e-05 9.99999330e-01 -2.31005472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:-4.01, Z:-2.31 [[ 9.83540698e-01 1.80679467e-01 1.62057026e-03 9.27010182e+01] [-1.80679283e-01 9.83542032e-01 -2.60730762e-04 -4.00739502e+00] [-1.64100766e-03 -3.63641573e-05 9.99998653e-01 -2.31156469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:-4.01, Z:-2.31 [[ 9.83543179e-01 1.80659906e-01 2.19398139e-03 9.27338121e+01] [-1.80659564e-01 9.83545625e-01 -3.54961734e-04 -4.01192441e+00] [-2.22200815e-03 -4.72435279e-05 9.99997530e-01 -2.31301010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.77, Y:-4.02, Z:-2.31 [[ 9.83784248e-01 1.79338326e-01 2.51340134e-03 9.27656370e+01] [-1.79337866e-01 9.83787458e-01 -4.09282866e-04 -4.01720370e+00] [-2.54605282e-03 -4.81019956e-05 9.99996758e-01 -2.31351422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.80, Y:-4.02, Z:-2.31 [[ 9.84190752e-01 1.77088151e-01 2.88963646e-03 9.27971518e+01] [-1.77087533e-01 9.84194993e-01 -4.70227987e-04 -4.02331936e+00] [-2.92723754e-03 -4.89245550e-05 9.99995714e-01 -2.31366105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.83, Y:-4.03, Z:-2.31 [[ 9.84711115e-01 1.74158033e-01 3.60556658e-03 9.28282122e+01] [-1.74157045e-01 9.84717715e-01 -5.88375097e-04 -4.03002244e+00] [-3.65293553e-03 -4.85553240e-05 9.99993327e-01 -2.31344314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:-4.04, Z:-2.31 [[ 9.85756580e-01 1.68162758e-01 2.29147676e-03 9.28611414e+01] [-1.68162347e-01 9.85759244e-01 -3.72458376e-04 -4.03521690e+00] [-2.32147802e-03 -1.81868143e-05 9.99997305e-01 -2.31330607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:-4.04, Z:-2.32 [[ 9.86147012e-01 1.65873289e-01 3.51305934e-04 9.28943459e+01] [-1.65873280e-01 9.86147074e-01 -5.33527471e-05 -4.03920698e+00] [-3.55289115e-04 -5.65861564e-06 9.99999937e-01 -2.31548191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.93, Y:-4.04, Z:-2.32 [[ 9.86581940e-01 1.63262486e-01 -1.19854622e-03 9.29273568e+01] [-1.63262360e-01 9.86582668e-01 2.02138395e-04 -4.04341960e+00] [ 1.21546654e-03 -3.74860606e-06 9.99999261e-01 -2.31741491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:-4.05, Z:-2.32 [[ 9.86957622e-01 1.60973432e-01 -1.48573918e-03 9.29598886e+01] [-1.60973238e-01 9.86958740e-01 2.49830092e-04 -4.05028251e+00] [ 1.50657928e-03 -7.40746666e-06 9.99998865e-01 -2.31914559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:-4.06, Z:-2.32 [[ 9.86944008e-01 1.61056875e-01 -1.48612972e-03 9.29928985e+01] [-1.61056685e-01 9.86945127e-01 2.47463815e-04 -4.05586988e+00] [ 1.50658423e-03 -4.88180239e-06 9.99998865e-01 -2.31992959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:-4.06, Z:-2.32 [[ 9.87560429e-01 1.57233319e-01 1.44303079e-03 9.30249370e+01] [-1.57233145e-01 9.87561483e-01 -2.33866740e-04 -4.06427115e+00] [-1.46185327e-03 4.06526902e-06 9.99998931e-01 -2.31912674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:-4.07, Z:-2.32 [[ 9.87770588e-01 1.55886872e-01 2.92388877e-03 9.30566857e+01] [-1.55886135e-01 9.87774915e-01 -4.79639173e-04 -4.07045982e+00] [-2.96291343e-03 1.79797499e-05 9.99995610e-01 -2.31950629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.09, Y:-4.08, Z:-2.32 [[ 9.87955287e-01 1.54723621e-01 2.22523779e-03 9.30888726e+01] [-1.54723193e-01 9.87957793e-01 -3.64314538e-04 -4.07651432e+00] [-2.25480908e-03 1.56305774e-05 9.99997458e-01 -2.31990296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:-4.08, Z:-2.32 [[ 9.88335221e-01 1.52294093e-01 4.50132200e-06 9.31201226e+01] [-1.52294093e-01 9.88335221e-01 3.78739914e-06 -4.08191955e+00] [-3.87201667e-06 -4.42874472e-06 1.00000000e+00 -2.32190919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.15, Y:-4.09, Z:-2.32 [[ 9.88449314e-01 1.51550060e-01 7.29575604e-04 9.31530925e+01] [-1.51550015e-01 9.88449584e-01 -1.16469328e-04 -4.08756274e+00] [-7.38799636e-04 4.55683339e-06 9.99999727e-01 -2.32247336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:-4.09, Z:-2.32 [[ 9.88516314e-01 1.51095132e-01 2.39967398e-03 9.31847976e+01] [-1.51094618e-01 9.88519226e-01 -3.94784438e-04 -4.09405222e+00] [-2.43177387e-03 2.76730333e-05 9.99997043e-01 -2.32273243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:-4.10, Z:-2.32 [[ 9.88670925e-01 1.50069185e-01 3.00706447e-03 9.32167387e+01] [-1.50068370e-01 9.88675497e-01 -4.96118696e-04 -4.10350172e+00] [-3.04746309e-03 3.92328675e-05 9.99995356e-01 -2.32212623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:-4.11, Z:-2.32 [[ 9.88692758e-01 1.49950292e-01 1.24084044e-03 9.32490994e+01] [-1.49950156e-01 9.88693537e-01 -2.02192151e-04 -4.10994750e+00] [-1.25712970e-03 1.38416967e-05 9.99999210e-01 -2.32292728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:-4.12, Z:-2.33 [[ 9.88507770e-01 1.51163373e-01 -1.42260006e-03 9.32809428e+01] [-1.51163181e-01 9.88508793e-01 2.41971560e-04 -4.11508245e+00] [ 1.44282990e-03 -2.41460168e-05 9.99998959e-01 -2.32543564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.31, Y:-4.12, Z:-2.33 [[ 9.88297941e-01 1.52530707e-01 -1.25036958e-03 9.33129264e+01] [-1.52530560e-01 9.88298732e-01 2.13281450e-04 -4.11991442e+00] [ 1.26827065e-03 -2.00660459e-05 9.99999196e-01 -2.32697642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:-4.13, Z:-2.33 [[ 9.88027677e-01 1.54276673e-01 -1.31164609e-04 9.33449412e+01] [-1.54276671e-01 9.88027686e-01 2.64677675e-05 -4.12540028e+00] [ 1.33677624e-04 -5.91524763e-06 9.99999991e-01 -2.32774561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.38, Y:-4.13, Z:-2.33 [[ 9.87739880e-01 1.56106619e-01 8.07754264e-04 9.33777777e+01] [-1.56106564e-01 9.87740211e-01 -1.30760116e-04 -4.13133169e+00] [-8.18263886e-04 3.06123860e-06 9.99999665e-01 -2.32794087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:-4.14, Z:-2.33 [[ 9.87413698e-01 1.58154110e-01 1.21067629e-03 9.34096249e+01] [-1.58153986e-01 9.87414441e-01 -1.98532254e-04 -4.14295791e+00] [-1.22683794e-03 4.56018688e-06 9.99999247e-01 -2.32732227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:-4.15, Z:-2.33 [[ 9.87433396e-01 1.58029771e-01 1.37137840e-03 9.34417737e+01] [-1.58029610e-01 9.87434348e-01 -2.25678175e-04 -4.15198975e+00] [-1.38981001e-03 6.12377345e-06 9.99999034e-01 -2.32783704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:-4.16, Z:-2.33 [[ 9.87478991e-01 1.57746279e-01 1.16359897e-03 9.34743830e+01] [-1.57746164e-01 9.87479676e-01 -1.90978240e-04 -4.15916264e+00] [-1.17915645e-03 5.03372550e-06 9.99999305e-01 -2.32862446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:-4.16, Z:-2.33 [[ 9.87664885e-01 1.56582263e-01 2.65382053e-04 9.35063852e+01] [-1.56582258e-01 9.87664920e-01 -4.02997961e-05 -4.16394019e+00] [-2.68418777e-04 -1.75142756e-06 9.99999964e-01 -2.33095931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.54, Y:-4.17, Z:-2.33 [[ 9.87769414e-01 1.55921623e-01 -1.79754426e-04 9.35390620e+01] [-1.55921620e-01 9.87769430e-01 3.48624845e-05 -4.17084076e+00] [ 1.82991742e-04 -6.40849468e-06 9.99999983e-01 -2.33213037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:-4.18, Z:-2.33 [[ 9.87821923e-01 1.55588711e-01 -3.41347033e-05 9.35711132e+01] [-1.55588711e-01 9.87821924e-01 1.03721614e-05 -4.17980374e+00] [ 3.53327994e-05 -4.93487397e-06 9.99999999e-01 -2.33257517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:-4.19, Z:-2.33 [[ 9.87709044e-01 1.56301186e-01 8.85019745e-04 9.36016415e+01] [-1.56301117e-01 9.87709441e-01 -1.46577210e-04 -4.19384752e+00] [-8.97052549e-04 6.44606167e-06 9.99999598e-01 -2.33164076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:-4.20, Z:-2.33 [[ 9.87422171e-01 1.58101509e-01 1.16988910e-03 9.36337666e+01] [-1.58101391e-01 9.87422864e-01 -1.93191173e-04 -4.20242491e+00] [-1.18571906e-03 5.80015334e-06 9.99999297e-01 -2.33126699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.67, Y:-4.21, Z:-2.33 [[ 9.86503674e-01 1.63727283e-01 1.96923758e-03 9.36658426e+01] [-1.63726953e-01 9.86505640e-01 -3.28571790e-04 -4.21000399e+00] [-1.99646014e-03 1.72001038e-06 9.99998007e-01 -2.33126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:-4.22, Z:-2.33 [[ 9.85932847e-01 1.67117253e-01 2.87144486e-03 9.36974875e+01] [-1.67116554e-01 9.85937028e-01 -4.83462375e-04 -4.21549508e+00] [-2.91185872e-03 -3.20453267e-06 9.99995761e-01 -2.33250118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:-4.22, Z:-2.33 [[ 9.85372420e-01 1.70362598e-01 4.21657821e-03 9.37290734e+01] [-1.70361116e-01 9.85381441e-01 -7.10853941e-04 -4.22029354e+00] [-4.27604084e-03 -1.78851029e-05 9.99990858e-01 -2.33342483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:-4.23, Z:-2.33 [[ 9.84930338e-01 1.72871874e-01 5.24820595e-03 9.37612942e+01] [-1.72869604e-01 9.84944320e-01 -8.86526318e-04 -4.22643095e+00] [-5.32244611e-03 -3.40886196e-05 9.99985835e-01 -2.33456177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:-4.24, Z:-2.34 [[ 9.84357328e-01 1.76151688e-01 3.35159462e-03 9.37914740e+01] [-1.76150784e-01 9.84363033e-01 -5.65451900e-04 -4.23698018e+00] [-3.39879116e-03 -3.37792995e-05 9.99994224e-01 -2.33535806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:-4.25, Z:-2.34 [[ 9.84246329e-01 1.76790972e-01 2.02883599e-03 9.38235151e+01] [-1.76790645e-01 9.84248420e-01 -3.40626228e-04 -4.24587071e+00] [-2.05709826e-03 -2.34191086e-05 9.99997884e-01 -2.33599305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:-4.25, Z:-2.34 [[ 9.84219032e-01 1.76946522e-01 1.68107346e-03 9.38555219e+01] [-1.76946299e-01 9.84220467e-01 -2.81779462e-04 -4.25384102e+00] [-1.70440680e-03 -2.01270175e-05 9.99998547e-01 -2.33713883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:-4.26, Z:-2.34 [[ 9.84308956e-01 1.76437249e-01 2.40341664e-03 9.38869866e+01] [-1.76436784e-01 9.84311890e-01 -4.05577231e-04 -4.26174157e+00] [-2.43727050e-03 -2.48378023e-05 9.99997030e-01 -2.33778959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:-4.27, Z:-2.34 [[ 9.84384777e-01 1.76011044e-01 2.59275858e-03 9.39196662e+01] [-1.76010500e-01 9.84388192e-01 -4.38120440e-04 -4.26766856e+00] [-2.62939496e-03 -2.50736426e-05 9.99996543e-01 -2.33817148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:-4.27, Z:-2.34 [[ 9.84635367e-01 1.74609322e-01 2.18604931e-03 9.39523311e+01] [-1.74608933e-01 9.84637794e-01 -3.69027741e-04 -4.27271932e+00] [-2.21690246e-03 -1.83459723e-05 9.99997543e-01 -2.33972764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:-4.28, Z:-2.34 [[ 9.84741989e-01 1.74006778e-01 2.20376554e-03 9.39840968e+01] [-1.74006379e-01 9.84744455e-01 -3.72776218e-04 -4.27866575e+00] [-2.23501149e-03 -1.63808685e-05 9.99997502e-01 -2.34087788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:-4.29, Z:-2.34 [[ 9.84841142e-01 1.73435421e-01 2.84238041e-03 9.40162628e+01] [-1.73434751e-01 9.84845244e-01 -4.82414253e-04 -4.28636456e+00] [-2.88297255e-03 -1.78661346e-05 9.99995844e-01 -2.34133930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:-4.30, Z:-2.34 [[ 9.85089603e-01 1.71996374e-01 3.96502237e-03 9.40469113e+01] [-1.71995043e-01 9.85097582e-01 -6.76951586e-04 -4.29836236e+00] [-4.02236717e-03 -1.51062230e-05 9.99991910e-01 -2.33970783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:94.08, Y:-4.30, Z:-2.34 [[ 9.85143841e-01 1.71671995e-01 4.50991605e-03 9.40778686e+01] [-1.71670269e-01 9.85154164e-01 -7.69828021e-04 -4.30497874e+00] [-4.57512049e-03 -1.58271703e-05 9.99989534e-01 -2.33949376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.11, Y:-4.31, Z:-2.34 [[ 9.85117404e-01 1.71816990e-01 4.75620416e-03 9.41105770e+01] [-1.71815069e-01 9.85128886e-01 -8.12628217e-04 -4.31115233e+00] [-4.82509744e-03 -1.66533485e-05 9.99988359e-01 -2.34137256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.14, Y:-4.31, Z:-2.34 [[ 9.84929181e-01 1.72878078e-01 5.26111017e-03 9.41426614e+01] [-1.72875733e-01 9.84943232e-01 -9.00678802e-04 -4.31489982e+00] [-5.33760247e-03 -2.24134441e-05 9.99985755e-01 -2.34330519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.18, Y:-4.32, Z:-2.34 [[ 9.84642188e-01 1.74489756e-01 5.75209153e-03 9.41753125e+01] [-1.74486973e-01 9.84658989e-01 -9.86068660e-04 -4.32016887e+00] [-5.83590751e-03 -3.27402378e-05 9.99982970e-01 -2.34379533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:-4.33, Z:-2.34 [[ 9.84284606e-01 1.76500376e-01 5.60638748e-03 9.42064466e+01] [-1.76497758e-01 9.84300572e-01 -9.62295934e-04 -4.32504546e+00] [-5.68821600e-03 -4.23417474e-05 9.99983821e-01 -2.34407071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:-4.33, Z:-2.35 [[ 9.83896718e-01 1.78670508e-01 4.90897795e-03 9.42391524e+01] [-1.78668527e-01 9.83908963e-01 -8.42741164e-04 -4.33008808e+00] [-4.98056039e-03 -4.79095923e-05 9.99987596e-01 -2.34547985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:-4.34, Z:-2.35 [[ 9.83402675e-01 1.81425963e-01 1.94926770e-03 9.42716773e+01] [-1.81425660e-01 9.83404606e-01 -3.32305878e-04 -4.33584253e+00] [-1.97720775e-03 -2.68566907e-05 9.99998045e-01 -2.34714972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:-4.34, Z:-2.35 [[ 9.83327799e-01 1.81835469e-01 1.51698863e-03 9.43037918e+01] [-1.81835288e-01 9.83328969e-01 -2.57898178e-04 -4.34184226e+00] [-1.53859390e-03 -2.22436167e-05 9.99998816e-01 -2.34810496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:-4.35, Z:-2.35 [[ 9.83426684e-01 1.81285829e-01 2.72144458e-03 9.43364795e+01] [-1.81285232e-01 9.83430448e-01 -4.66773760e-04 -4.34731521e+00] [-2.76097094e-03 -3.43199408e-05 9.99996188e-01 -2.34876848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.37, Y:-4.35, Z:-2.35 [[ 9.83868629e-01 1.78840159e-01 4.32650940e-03 9.43696069e+01] [-1.78838610e-01 9.83878141e-01 -7.45405379e-04 -4.35133283e+00] [-4.39006644e-03 -4.03659581e-05 9.99990363e-01 -2.35067095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.40, Y:-4.36, Z:-2.35 [[ 9.84145675e-01 1.77334915e-01 3.10126540e-03 9.44011722e+01] [-1.77334113e-01 9.84150561e-01 -5.33895926e-04 -4.35721601e+00] [-3.14679048e-03 -2.45287834e-05 9.99995049e-01 -2.35204607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:-4.37, Z:-2.35 [[ 9.84848831e-01 1.73390329e-01 2.92817114e-03 9.44316100e+01] [-1.73389592e-01 9.84853184e-01 -5.05726437e-04 -4.36667832e+00] [-2.97150674e-03 -9.65030833e-06 9.99995585e-01 -2.35312017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:-4.37, Z:-2.35 [[ 9.85238267e-01 1.71136926e-01 4.20819854e-03 9.44634663e+01] [-1.71135382e-01 9.85247254e-01 -7.27002487e-04 -4.37474493e+00] [-4.27053302e-03 -3.90099389e-06 9.99990881e-01 -2.35314436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-4.38, Z:-2.35 [[ 9.85603340e-01 1.68992812e-01 5.24266435e-03 9.44943740e+01] [-1.68990372e-01 9.85617283e-01 -9.08180159e-04 -4.38186149e+00] [-5.32073651e-03 9.14560160e-06 9.99985845e-01 -2.35343601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.53, Y:-4.39, Z:-2.35 [[ 9.86417020e-01 1.64189060e-01 4.83886180e-03 9.45260095e+01] [-1.64186921e-01 9.86428888e-01 -8.38697174e-04 -4.39056340e+00] [-4.91089797e-03 3.28273451e-05 9.99987941e-01 -2.35374799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.56, Y:-4.40, Z:-2.35 [[ 9.86802018e-01 1.61872349e-01 4.37266115e-03 9.45566877e+01] [-1.61870577e-01 9.86811705e-01 -7.58553362e-04 -4.39889993e+00] [-4.43778202e-03 4.07368040e-05 9.99990152e-01 -2.35469265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:-4.41, Z:-2.36 [[ 9.87107050e-01 1.60009013e-01 4.09739365e-03 9.45882867e+01] [-1.60007440e-01 9.87115552e-01 -7.10975326e-04 -4.40872928e+00] [-4.15836345e-03 4.61952891e-05 9.99991353e-01 -2.35604072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:-4.42, Z:-2.36 [[ 9.87385908e-01 1.58278175e-01 4.13383083e-03 9.46187495e+01] [-1.58276554e-01 9.87394560e-01 -7.18441329e-04 -4.41809806e+00] [-4.19543565e-03 5.50903473e-05 9.99991198e-01 -2.35724871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.65, Y:-4.43, Z:-2.36 [[ 9.87569812e-01 1.57101999e-01 4.98276654e-03 9.46486456e+01] [-1.57099613e-01 9.87582379e-01 -8.69028188e-04 -4.43037406e+00] [-5.05741850e-03 7.54353077e-05 9.99987208e-01 -2.35743974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:-4.44, Z:-2.36 [[ 9.87464394e-01 1.57757045e-01 5.17546434e-03 9.46803328e+01] [-1.57754484e-01 9.87477954e-01 -9.01973992e-04 -4.43917508e+00] [-5.25294969e-03 7.42144951e-05 9.99986200e-01 -2.35794370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:-4.45, Z:-2.36 [[ 9.87276709e-01 1.58927231e-01 5.18026455e-03 9.47111823e+01] [-1.58924675e-01 9.87290297e-01 -9.04085038e-04 -4.44841522e+00] [-5.25810866e-03 6.93102425e-05 9.99986174e-01 -2.35772612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:-4.46, Z:-2.36 [[ 9.86671606e-01 1.62607806e-01 6.15166693e-03 9.47421327e+01] [-1.62604262e-01 9.86690781e-01 -1.07530161e-03 -4.46151191e+00] [-6.24464549e-03 6.06823129e-05 9.99980500e-01 -2.35735046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.77, Y:-4.47, Z:-2.36 [[ 9.86243869e-01 1.65162665e-01 6.65764258e-03 9.47739857e+01] [-1.65158561e-01 9.86266339e-01 -1.16546691e-03 -4.47097275e+00] [-6.75870040e-03 4.98679311e-05 9.99977158e-01 -2.35852385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:-4.48, Z:-2.36 [[ 9.85844999e-01 1.67545425e-01 6.17799336e-03 9.48046364e+01] [-1.67541931e-01 9.85864356e-01 -1.08262863e-03 -4.48043056e+00] [-6.27205292e-03 3.22310856e-05 9.99980330e-01 -2.35964555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:-4.49, Z:-2.36 [[ 9.85068400e-01 1.72093743e-01 4.89804023e-03 9.48349025e+01] [-1.72091603e-01 9.85080577e-01 -8.58417333e-04 -4.49421174e+00] [-4.97269255e-03 2.68819568e-06 9.99987636e-01 -2.36226819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:-4.50, Z:-2.36 [[ 9.84690106e-01 1.74245380e-01 4.89321132e-03 9.48670548e+01] [-1.74243267e-01 9.84702263e-01 -8.58265531e-04 -4.50355632e+00] [-4.96790507e-03 -7.48354898e-06 9.99987660e-01 -2.36405898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:-4.51, Z:-2.37 [[ 9.84337209e-01 1.76242008e-01 4.36038551e-03 9.48984764e+01] [-1.76240347e-01 9.84346867e-01 -7.65132655e-04 -4.51380811e+00] [-4.42698033e-03 -1.53273148e-05 9.99990201e-01 -2.36560252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:-4.53, Z:-2.37 [[ 9.83896877e-01 1.78715856e-01 2.75278140e-03 9.49295637e+01] [-1.78715207e-01 9.83900728e-01 -4.81930892e-04 -4.53006178e+00] [-2.79459232e-03 -1.77935984e-05 9.99996095e-01 -2.36572477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:-4.54, Z:-2.37 [[ 9.83600654e-01 1.80337061e-01 2.88047851e-03 9.49611441e+01] [-1.80336355e-01 9.83604872e-01 -5.04971639e-04 -4.53888862e+00] [-2.92431780e-03 -2.27645623e-05 9.99995724e-01 -2.36574741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.99, Y:-4.54, Z:-2.37 [[ 9.83585452e-01 1.80419969e-01 2.87999366e-03 9.49940779e+01] [-1.80419255e-01 9.83589668e-01 -5.07712908e-04 -4.54484606e+00] [-2.92433356e-03 -2.02272820e-05 9.99995724e-01 -2.36653175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:-4.55, Z:-2.37 [[ 9.83130173e-01 1.82874286e-01 3.47247372e-03 9.50255135e+01] [-1.82873269e-01 9.83136305e-01 -6.10960166e-04 -4.55202851e+00] [-3.52564389e-03 -3.43692472e-05 9.99993784e-01 -2.36753230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:-4.56, Z:-2.37 [[ 9.82066936e-01 1.88520267e-01 2.15466184e-03 9.50570937e+01] [-1.88519892e-01 9.82069299e-01 -3.77752358e-04 -4.56164039e+00] [-2.18724122e-03 -3.52185177e-05 9.99997607e-01 -2.36868138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:-4.57, Z:-2.37 [[ 9.81529851e-01 1.91299252e-01 1.93577528e-03 9.50893634e+01] [-1.91298955e-01 9.81531759e-01 -3.39293324e-04 -4.57100374e+00] [-1.96493148e-03 -3.72852624e-05 9.99998069e-01 -2.36863901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:-4.58, Z:-2.37 [[ 9.81016139e-01 1.93901041e-01 3.11784359e-03 9.51211503e+01] [-1.93900273e-01 9.81021092e-01 -5.49710855e-04 -4.58024004e+00] [-3.16525983e-03 -6.52755015e-05 9.99994988e-01 -2.36843391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-4.59, Z:-2.37 [[ 9.80298408e-01 1.97448353e-01 5.40177444e-03 9.51515894e+01] [-1.97446070e-01 9.80313282e-01 -9.58019802e-04 -4.58968787e+00] [-5.48459066e-03 -1.27413849e-04 9.99984951e-01 -2.36865941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:-4.60, Z:-2.37 [[ 9.80086277e-01 1.98495532e-01 5.51475873e-03 9.51841234e+01] [-1.98493172e-01 9.80101783e-01 -9.77493962e-04 -4.59568872e+00] [-5.59905304e-03 -1.36613534e-04 9.99984316e-01 -2.36990104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:-4.60, Z:-2.37 [[ 9.79952998e-01 1.99154604e-01 5.43738416e-03 9.52169388e+01] [-1.99152315e-01 9.79968073e-01 -9.64784153e-04 -4.60082281e+00] [-5.52060409e-03 -1.37424519e-04 9.99984752e-01 -2.37141960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:-4.61, Z:-2.37 [[ 9.79914461e-01 1.99339736e-01 5.59632368e-03 9.52485149e+01] [-1.99337306e-01 9.79930431e-01 -9.94416049e-04 -4.60530459e+00] [-5.68223451e-03 -1.41113418e-04 9.99983846e-01 -2.37330950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:-4.61, Z:-2.37 [[ 9.80450671e-01 1.96681711e-01 5.72584355e-03 9.52804427e+01] [-1.96679116e-01 9.80467382e-01 -1.01834433e-03 -4.61235404e+00] [-5.81429255e-03 -1.27717473e-04 9.99983089e-01 -2.37451803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:-4.62, Z:-2.38 [[ 9.80920241e-01 1.94350038e-01 4.85226763e-03 9.53130810e+01] [-1.94348145e-01 9.80932237e-01 -8.63174696e-04 -4.61946772e+00] [-4.92750377e-03 -9.63236811e-05 9.99987855e-01 -2.37509969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:-4.63, Z:-2.38 [[ 9.81965499e-01 1.89034164e-01 3.13749793e-03 9.53440139e+01] [-1.89033348e-01 9.81970510e-01 -5.57415501e-04 -4.62632314e+00] [-3.18630102e-03 -4.57289476e-05 9.99994923e-01 -2.37709130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.38, Y:-4.63, Z:-2.38 [[ 9.82563865e-01 1.85899261e-01 3.11703687e-03 9.53762778e+01] [-1.85898439e-01 9.82568808e-01 -5.54097169e-04 -4.63399495e+00] [-3.16570946e-03 -3.50164316e-05 9.99994989e-01 -2.37789443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:-4.64, Z:-2.38 [[ 9.83226915e-01 1.82355677e-01 3.35266320e-03 9.54072924e+01] [-1.82354701e-01 9.83232631e-01 -5.97218051e-04 -4.64228610e+00] [-3.40535396e-03 -2.41730320e-05 9.99994201e-01 -2.37860277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:-4.65, Z:-2.38 [[ 9.84510802e-01 1.75276681e-01 4.07006435e-03 9.54387706e+01] [-1.75275176e-01 9.84519215e-01 -7.26293545e-04 -4.65311679e+00] [-4.13435888e-03 1.66259516e-06 9.99991454e-01 -2.37882818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-4.66, Z:-2.38 [[ 9.84999632e-01 1.72497267e-01 4.51853096e-03 9.54703831e+01] [-1.72495376e-01 9.85009996e-01 -8.07982953e-04 -4.66049468e+00] [-4.59017301e-03 1.64372167e-05 9.99989465e-01 -2.37919395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.50, Y:-4.67, Z:-2.38 [[ 9.85366965e-01 1.70392133e-01 4.29709313e-03 9.55019687e+01] [-1.70390394e-01 9.85376334e-01 -7.70176274e-04 -4.66591895e+00] [-4.36548586e-03 2.67228653e-05 9.99990471e-01 -2.38036211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:-4.67, Z:-2.38 [[ 9.85549211e-01 1.69360307e-01 3.13687126e-03 9.55341202e+01] [-1.69359381e-01 9.85554202e-01 -5.60371222e-04 -4.67047623e+00] [-3.18646130e-03 2.10148397e-05 9.99994923e-01 -2.38231541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:-4.68, Z:-2.39 [[ 9.85588176e-01 1.69152759e-01 1.81401992e-03 9.55653884e+01] [-1.69152452e-01 9.85589846e-01 -3.22778867e-04 -4.67534205e+00] [-1.84247855e-03 1.12811188e-05 9.99998303e-01 -2.38508030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:-4.68, Z:-2.39 [[ 9.85461863e-01 1.69873608e-01 2.80596972e-03 9.55980210e+01] [-1.69872867e-01 9.85465858e-01 -5.01947816e-04 -4.68272012e+00] [-2.85045504e-03 1.79923085e-05 9.99995937e-01 -2.38559835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.63, Y:-4.69, Z:-2.38 [[ 9.85089052e-01 1.71983545e-01 4.60647719e-03 9.56285039e+01] [-1.71981548e-01 9.85099822e-01 -8.29127612e-04 -4.69199594e+00] [-4.68043617e-03 2.45354547e-05 9.99989046e-01 -2.38278648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:-4.70, Z:-2.38 [[ 9.84784495e-01 1.73696070e-01 5.40122158e-03 9.56610974e+01] [-1.73693351e-01 9.84799307e-01 -9.71988242e-04 -4.69891055e+00] [-5.48794980e-03 1.90426744e-05 9.99984941e-01 -2.38178498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:-4.70, Z:-2.38 [[ 9.84028269e-01 1.77894521e-01 6.47342961e-03 9.56939974e+01] [-1.77890693e-01 9.84049561e-01 -1.16703451e-03 -4.70063892e+00] [-6.57778462e-03 -3.16792996e-06 9.99978366e-01 -2.38289390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:-4.70, Z:-2.39 [[ 9.83529402e-01 1.80651519e-01 5.91135574e-03 9.57255825e+01] [-1.80648370e-01 9.83547166e-01 -1.06672734e-03 -4.70288093e+00] [-6.00680310e-03 -1.87190755e-05 9.99981959e-01 -2.38517176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:-4.71, Z:-2.39 [[ 9.83016306e-01 1.83436049e-01 5.49166663e-03 9.57577996e+01] [-1.83433371e-01 9.83031645e-01 -9.91737827e-04 -4.70660137e+00] [-5.58040254e-03 -3.24604649e-05 9.99984429e-01 -2.38705735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:-4.71, Z:-2.39 [[ 9.82546152e-01 1.85922025e-01 6.00498746e-03 9.57898599e+01] [-1.85918862e-01 9.82564501e-01 -1.08569401e-03 -4.71188869e+00] [-6.10214193e-03 -4.96959609e-05 9.99981381e-01 -2.38776910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.82, Y:-4.72, Z:-2.39 [[ 9.81729069e-01 1.90132973e-01 7.58206534e-03 9.58229095e+01] [-1.90128035e-01 9.81758343e-01 -1.37346242e-03 -4.71718234e+00] [-7.70489640e-03 -9.31952085e-05 9.99970313e-01 -2.38649201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:-4.72, Z:-2.39 [[ 9.81356931e-01 1.92095005e-01 6.17118687e-03 9.58545516e+01] [-1.92091769e-01 9.81376330e-01 -1.11848349e-03 -4.72149123e+00] [-6.27111182e-03 -8.78026802e-05 9.99980333e-01 -2.38653704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-4.72, Z:-2.39 [[ 9.80884913e-01 1.94562652e-01 3.18779270e-03 9.58872626e+01] [-1.94561802e-01 9.80890091e-01 -5.77549093e-04 -4.72175222e+00] [-3.23924375e-03 -5.37135005e-05 9.99994752e-01 -2.38809435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.92, Y:-4.72, Z:-2.39 [[ 9.80697039e-01 1.95498479e-01 3.69623458e-03 9.59206719e+01] [-1.95497345e-01 9.80704002e-01 -6.69046488e-04 -4.72394013e+00] [-3.75570962e-03 -6.64721397e-05 9.99992945e-01 -2.38981638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-4.73, Z:-2.39 [[ 9.80575237e-01 1.96085330e-01 4.76950898e-03 9.59525344e+01] [-1.96083437e-01 9.80586832e-01 -8.65863898e-04 -4.72671320e+00] [-4.84670091e-03 -8.61770178e-05 9.99988251e-01 -2.39022660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:-4.73, Z:-2.39 [[ 9.80855614e-01 1.94690840e-01 4.21210150e-03 9.59861209e+01] [-1.94689350e-01 9.80864655e-01 -7.64772057e-04 -4.72761299e+00] [-4.28039560e-03 -6.99203384e-05 9.99990837e-01 -2.39183892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:-4.73, Z:-2.39 [[ 9.81188135e-01 1.93026358e-01 3.26646066e-03 9.60176502e+01] [-1.93025454e-01 9.81193571e-01 -5.92734000e-04 -4.73138157e+00] [-3.31944348e-03 -4.89264837e-05 9.99994489e-01 -2.39266041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:-4.74, Z:-2.39 [[ 9.81703484e-01 1.90396765e-01 2.70955462e-03 9.60506669e+01] [-1.90396134e-01 9.81707223e-01 -4.91369884e-04 -4.73586338e+00] [-2.75354458e-03 -3.35091979e-05 9.99996208e-01 -2.39405461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:-4.74, Z:-2.39 [[ 9.82890160e-01 1.84171739e-01 2.77547708e-03 9.60827749e+01] [-1.84171049e-01 9.82894079e-01 -5.04251399e-04 -4.73858487e+00] [-2.82086884e-03 -1.55387858e-05 9.99996021e-01 -2.39433280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:-4.74, Z:-2.40 [[ 9.83420187e-01 1.81321557e-01 2.68863193e-03 9.61147749e+01] [-1.81320898e-01 9.83423862e-01 -4.88887746e-04 -4.74090619e+00] [-2.73271069e-03 -6.72307807e-06 9.99996266e-01 -2.39544550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-4.74, Z:-2.40 [[ 9.83891877e-01 1.78747260e-01 2.48810054e-03 9.61482014e+01] [-1.78746685e-01 9.83895023e-01 -4.53566326e-04 -4.74253983e+00] [-2.52910348e-03 1.52050080e-06 9.99996802e-01 -2.39676989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.18, Y:-4.74, Z:-2.40 [[ 9.84304739e-01 1.76458363e-01 2.57444914e-03 9.61798939e+01] [-1.76457738e-01 9.84308105e-01 -4.70010745e-04 -4.74497743e+00] [-2.61698848e-03 8.35233223e-06 9.99996576e-01 -2.39802852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:-4.75, Z:-2.40 [[ 9.85028447e-01 1.72347069e-01 3.93016601e-03 9.62123983e+01] [-1.72345576e-01 9.85036287e-01 -7.18116774e-04 -4.74829594e+00] [-3.99512146e-03 3.00187255e-05 9.99992019e-01 -2.39735304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:-4.75, Z:-2.40 [[ 9.85306199e-01 1.70726709e-01 4.90767670e-03 9.62452085e+01] [-1.70724351e-01 9.85318420e-01 -8.98666270e-04 -4.75344875e+00] [-4.98905059e-03 4.76015291e-05 9.99987553e-01 -2.39673689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:-4.76, Z:-2.40 [[ 9.85772812e-01 1.67974827e-01 6.03490828e-03 9.62780743e+01] [-1.67971195e-01 9.85791282e-01 -1.10735976e-03 -4.75618825e+00] [-6.13516854e-03 7.79143883e-05 9.99981177e-01 -2.39624963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-4.76, Z:-2.40 [[ 9.85960960e-01 1.66873095e-01 5.86136059e-03 9.63099565e+01] [-1.66869636e-01 9.85978379e-01 -1.07784590e-03 -4.75933636e+00] [-5.95903829e-03 8.46308713e-05 9.99982241e-01 -2.39679396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-4.76, Z:-2.40 [[ 9.86228247e-01 1.65323081e-01 4.70367767e-03 9.63436845e+01] [-1.65320842e-01 9.86239461e-01 -8.63639988e-04 -4.75916864e+00] [-4.78173216e-03 7.41301992e-05 9.99988565e-01 -2.39865983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:-4.76, Z:-2.40 [[ 9.86306593e-01 1.64853266e-01 4.76493394e-03 9.63767384e+01] [-1.64850957e-01 9.86318100e-01 -8.75889109e-04 -4.76360623e+00] [-4.84413377e-03 7.83912808e-05 9.99988264e-01 -2.39998367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:-4.77, Z:-2.40 [[ 9.86357297e-01 1.64544903e-01 4.92516535e-03 9.64080056e+01] [-1.64542427e-01 9.86369590e-01 -9.06704299e-04 -4.76949319e+00] [-5.00722689e-03 8.39357440e-05 9.99987460e-01 -2.40034694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.44, Y:-4.78, Z:-2.40 [[ 9.86386813e-01 1.64367698e-01 4.93107774e-03 9.64403247e+01] [-1.64365210e-01 9.86399135e-01 -9.08396114e-04 -4.77661331e+00] [-5.01332179e-03 8.55323216e-05 9.99987430e-01 -2.40037008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.47, Y:-4.78, Z:-2.40 [[ 9.86279082e-01 1.65020261e-01 4.67828342e-03 9.64715307e+01] [-1.65018019e-01 9.86290174e-01 -8.63935855e-04 -4.78183237e+00] [-4.75671189e-03 8.00807998e-05 9.99988684e-01 -2.39978468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.50, Y:-4.79, Z:-2.40 [[ 9.86111096e-01 1.66020063e-01 4.71644987e-03 9.65043228e+01] [-1.66017799e-01 9.86122372e-01 -8.70324685e-04 -4.78506879e+00] [-4.79548809e-03 7.52222044e-05 9.99988499e-01 -2.40064646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:-4.79, Z:-2.40 [[ 9.85860418e-01 1.67507237e-01 4.53445504e-03 9.65376888e+01] [-1.67505157e-01 9.85870844e-01 -8.37446985e-04 -4.78684468e+00] [-4.61066545e-03 6.60612316e-05 9.99989369e-01 -2.40225327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.57, Y:-4.78, Z:-2.41 [[ 9.85321462e-01 1.70647277e-01 4.59599905e-03 9.65714118e+01] [-1.70645169e-01 9.85332180e-01 -8.49733104e-04 -4.78496304e+00] [-4.67359041e-03 5.29752279e-05 9.99989077e-01 -2.40500984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:-4.79, Z:-2.40 [[ 9.85013586e-01 1.72386761e-01 5.57140684e-03 9.66043476e+01] [-1.72383680e-01 9.85029340e-01 -1.03217750e-03 -4.79055030e+00] [-5.66593294e-03 5.62892433e-05 9.99983947e-01 -2.40487172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-4.80, Z:-2.40 [[ 9.84538252e-01 1.75075359e-01 5.74876862e-03 9.66364033e+01] [-1.75072117e-01 9.84555035e-01 -1.06619062e-03 -4.79738073e+00] [-5.84664280e-03 4.32563557e-05 9.99982907e-01 -2.40361955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-4.80, Z:-2.40 [[ 9.84316591e-01 1.76352878e-01 4.52884644e-03 9.66682939e+01] [-1.76350879e-01 9.84327009e-01 -8.40126614e-04 -4.80229237e+00] [-4.60602461e-03 2.82845138e-05 9.99989392e-01 -2.40428714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-4.81, Z:-2.41 [[ 9.84157702e-01 1.77260444e-01 3.51473747e-03 9.67000781e+01] [-1.77259246e-01 9.84163978e-01 -6.51811158e-04 -4.80578385e+00] [-3.57461834e-03 1.84652551e-05 9.99993611e-01 -2.40594112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:-4.81, Z:-2.41 [[ 9.83849414e-01 1.78979317e-01 2.59526367e-03 9.67323934e+01] [-1.78978672e-01 9.83852836e-01 -4.80701273e-04 -4.80574867e+00] [-2.63939311e-03 8.44082061e-06 9.99996517e-01 -2.40937144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.77, Y:-4.81, Z:-2.41 [[ 9.83698762e-01 1.79818079e-01 1.48494299e-03 9.67654012e+01] [-1.79817871e-01 9.83699882e-01 -2.73262393e-04 -4.80986545e+00] [-1.50987576e-03 1.78859008e-06 9.99998860e-01 -2.41116796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:-4.82, Z:-2.41 [[ 9.83590732e-01 1.80410699e-01 1.11841692e-03 9.67972586e+01] [-1.80410582e-01 9.83591368e-01 -2.04754684e-04 -4.81639659e+00] [-1.13700516e-03 -3.79437778e-07 9.99999354e-01 -2.41188388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-4.82, Z:-2.41 [[ 9.83538935e-01 1.80692183e-01 1.22364921e-03 9.68296482e+01] [-1.80692044e-01 9.83539697e-01 -2.24668633e-04 -4.82362154e+00] [-1.24410344e-03 -1.33329256e-07 9.99999226e-01 -2.41161571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.86, Y:-4.83, Z:-2.41 [[ 9.83430544e-01 1.81263251e-01 2.82830312e-03 9.68615345e+01] [-1.81262487e-01 9.83434611e-01 -5.26286283e-04 -4.82837131e+00] [-2.87684754e-03 4.90074780e-06 9.99995862e-01 -2.41123009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:-4.83, Z:-2.41 [[ 9.83425771e-01 1.81298835e-01 2.11804822e-03 9.68941873e+01] [-1.81298409e-01 9.83428051e-01 -3.93254077e-04 -4.83218187e+00] [-2.15424454e-03 2.73742112e-06 9.99997680e-01 -2.41171960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.93, Y:-4.84, Z:-2.41 [[ 9.83575323e-01 1.80469235e-01 3.23085661e-03 9.69262203e+01] [-1.80468227e-01 9.83580630e-01 -6.03172286e-04 -4.83628748e+00] [-3.28666202e-03 1.01984136e-05 9.99994599e-01 -2.41282156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:-4.84, Z:-2.41 [[ 9.83754638e-01 1.79479473e-01 3.73232783e-03 9.69589998e+01] [-1.79478117e-01 9.83761718e-01 -6.97910600e-04 -4.84222335e+00] [-3.79698186e-03 1.67016186e-05 9.99992791e-01 -2.41255301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.99, Y:-4.85, Z:-2.41 [[ 9.83944718e-01 1.78429036e-01 3.98388389e-03 9.69917711e+01] [-1.78427479e-01 9.83952783e-01 -7.45891701e-04 -4.84756725e+00] [-4.05304238e-03 2.30818413e-05 9.99991786e-01 -2.41353709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:-4.85, Z:-2.41 [[ 9.84558147e-01 1.75021578e-01 3.56390162e-03 9.70230987e+01] [-1.75020303e-01 9.84564597e-01 -6.68992716e-04 -4.85333569e+00] [-3.62597953e-03 3.49070851e-05 9.99993426e-01 -2.41453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:-4.86, Z:-2.42 [[ 9.84535096e-01 1.75151201e-01 3.56385148e-03 9.70559549e+01] [-1.75149925e-01 9.84541546e-01 -6.69259621e-04 -4.85969139e+00] [-3.62598147e-03 3.47012646e-05 9.99993426e-01 -2.41531932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:-4.87, Z:-2.42 [[ 9.84922221e-01 1.72949163e-01 4.09942165e-03 9.70875420e+01] [-1.72947451e-01 9.84930751e-01 -7.71110810e-04 -4.86744242e+00] [-4.17100942e-03 5.04996448e-05 9.99991300e-01 -2.41525110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.12, Y:-4.88, Z:-2.41 [[ 9.85293752e-01 1.70791446e-01 5.14821634e-03 9.71194224e+01] [-1.70788717e-01 9.85307199e-01 -9.68414741e-04 -4.87505651e+00] [-5.23797158e-03 7.49157298e-05 9.99986279e-01 -2.41493316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.15, Y:-4.88, Z:-2.42 [[ 9.85884145e-01 1.67357465e-01 4.89198141e-03 9.71512067e+01] [-1.67354954e-01 9.85896278e-01 -9.20966095e-04 -4.88178950e+00] [-4.97711682e-03 8.92685452e-05 9.99987610e-01 -2.41589664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:-4.89, Z:-2.42 [[ 9.85982281e-01 1.66787582e-01 4.56549679e-03 9.71820599e+01] [-1.66785385e-01 9.85992847e-01 -8.60331670e-04 -4.88876914e+00] [-4.64503981e-03 8.68136422e-05 9.99989208e-01 -2.41762676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.21, Y:-4.90, Z:-2.42 [[ 9.86018330e-01 1.66585189e-01 4.15070119e-03 9.72141484e+01] [-1.66583371e-01 9.86027063e-01 -7.82258540e-04 -4.89529457e+00] [-4.22301638e-03 7.98834629e-05 9.99991080e-01 -2.41950113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.25, Y:-4.90, Z:-2.42 [[ 9.85815014e-01 1.67746784e-01 5.45669007e-03 9.72455982e+01] [-1.67743639e-01 9.85830110e-01 -1.03226556e-03 -4.90315890e+00] [-5.55252860e-03 1.02297842e-04 9.99984579e-01 -2.42014799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:-4.91, Z:-2.42 [[ 9.85593379e-01 1.69010372e-01 6.41763369e-03 9.72765087e+01] [-1.69006047e-01 9.85614266e-01 -1.21437716e-03 -4.91129382e+00] [-6.53055365e-03 1.12263190e-04 9.99978669e-01 -2.42005294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:-4.92, Z:-2.42 [[ 9.85069057e-01 1.72096152e-01 4.67628267e-03 9.73080778e+01] [-1.72093893e-01 9.85080154e-01 -8.84328960e-04 -4.91996093e+00] [-4.75870286e-03 6.63654069e-05 9.99988675e-01 -2.42046744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:-4.93, Z:-2.42 [[ 9.84704726e-01 1.74214404e-01 2.43813379e-03 9.73405931e+01] [-1.74213801e-01 9.84707744e-01 -4.59415215e-04 -4.92781592e+00] [-2.48088597e-03 2.76317786e-05 9.99996922e-01 -2.42168281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:-4.94, Z:-2.42 [[ 9.84238101e-01 1.76848276e-01 2.18641995e-04 9.73723234e+01] [-1.76848272e-01 9.84238125e-01 -3.70954263e-05 -4.93588380e+00] [-2.21756049e-04 -2.15572704e-06 9.99999975e-01 -2.42292592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:-4.94, Z:-2.42 [[ 9.83591709e-01 1.80406690e-01 -8.80739555e-04 9.74041108e+01] [-1.80406608e-01 9.83592103e-01 1.72543204e-04 -4.94376030e+00] [ 8.97416420e-04 -1.08208286e-05 9.99999597e-01 -2.42404849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:-4.95, Z:-2.43 [[ 9.82108156e-01 1.88317720e-01 -7.83761119e-05 9.74356187e+01] [-1.88317719e-01 9.82108159e-01 1.92468921e-05 -4.94720691e+00] [ 8.05983496e-05 -4.14291905e-06 9.99999997e-01 -2.42574882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-4.95, Z:-2.43 [[ 9.81264425e-01 1.92665717e-01 2.21930584e-04 9.74683712e+01] [-1.92665714e-01 9.81264450e-01 -3.79382679e-05 -4.95164122e+00] [-2.25081996e-04 -5.53094167e-06 9.99999975e-01 -2.42676867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:-4.96, Z:-2.43 [[ 9.80431359e-01 1.96860468e-01 5.53170529e-04 9.75003443e+01] [-1.96860442e-01 9.80431515e-01 -1.01621598e-04 -4.95711996e+00] [-5.62351096e-04 -9.26439345e-06 9.99999842e-01 -2.42699428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:-4.96, Z:-2.43 [[ 9.78947136e-01 2.04105062e-01 1.90507131e-03 9.75327888e+01] [-2.04104748e-01 9.78948989e-01 -3.60193045e-04 -4.96307757e+00] [-1.93848486e-03 -3.62241501e-05 9.99998120e-01 -2.42634082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:-4.97, Z:-2.43 [[ 9.78412168e-01 2.06656771e-01 1.61525256e-03 9.75640219e+01] [-2.06656549e-01 9.78413500e-01 -3.05340920e-04 -4.96892131e+00] [-1.64348568e-03 -3.50532471e-05 9.99998649e-01 -2.42750096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-4.98, Z:-2.43 [[ 9.77925670e-01 2.08952889e-01 2.70779511e-04 9.75965305e+01] [-2.08952884e-01 9.77925708e-01 -4.73888565e-05 -4.97609617e+00] [-2.74704284e-04 -1.02373805e-05 9.99999962e-01 -2.42853177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:-4.98, Z:-2.43 [[ 9.77823394e-01 2.09429945e-01 7.12198767e-04 9.76278219e+01] [-2.09429904e-01 9.77823654e-01 -1.32498298e-04 -4.98165559e+00] [-7.24153912e-04 -1.95957843e-05 9.99999738e-01 -2.42916215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.66, Y:-4.99, Z:-2.43 [[ 9.77827704e-01 2.09399162e-01 2.22997685e-03 9.76603115e+01] [-2.09398739e-01 9.77830245e-01 -4.24297879e-04 -4.98662920e+00] [-2.26938643e-03 -5.20641180e-05 9.99997424e-01 -2.43022264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-4.99, Z:-2.43 [[ 9.78439934e-01 2.06502955e-01 3.43884774e-03 9.76927808e+01] [-2.06501920e-01 9.78445975e-01 -6.57136839e-04 -4.99229107e+00] [-3.50042742e-03 -6.71597370e-05 9.99993871e-01 -2.43017715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.72, Y:-5.00, Z:-2.43 [[ 9.78817119e-01 2.04715079e-01 2.96379186e-03 9.77240580e+01] [-2.04714301e-01 9.78821605e-01 -5.66558643e-04 -4.99929611e+00] [-3.01700660e-03 -5.21732815e-05 9.99995447e-01 -2.43077315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:-5.01, Z:-2.43 [[ 9.79101580e-01 2.03359425e-01 2.24520473e-03 9.77566314e+01] [-2.03358978e-01 9.79104153e-01 -4.28356795e-04 -5.00688012e+00] [-2.28539967e-03 -3.71777241e-05 9.99997388e-01 -2.43160641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:-5.01, Z:-2.43 [[ 9.79354270e-01 2.02141772e-01 1.97948647e-03 9.77890455e+01] [-2.02141422e-01 9.79356270e-01 -3.77416955e-04 -5.01442784e+00] [-2.01491422e-03 -3.05113044e-05 9.99997970e-01 -2.43274475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-5.02, Z:-2.43 [[ 9.79561584e-01 2.01101905e-01 4.13855993e-03 9.78205102e+01] [-2.01100336e-01 9.79570325e-01 -7.96238760e-04 -5.02230551e+00] [-4.21413562e-03 -5.23008904e-05 9.99991119e-01 -2.43294678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:-5.03, Z:-2.43 [[ 9.79611780e-01 2.00829435e-01 5.31955797e-03 9.78518044e+01] [-2.00826836e-01 9.79626221e-01 -1.02389363e-03 -5.02820167e+00] [-5.41680645e-03 -6.52917333e-05 9.99985327e-01 -2.43294878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:-5.03, Z:-2.43 [[ 9.79696291e-01 2.00402048e-01 5.84782520e-03 9.78846010e+01] [-2.00398891e-01 9.79713741e-01 -1.12677509e-03 -5.03391474e+00] [-5.95500274e-03 -6.80003096e-05 9.99982267e-01 -2.43284523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:-5.04, Z:-2.43 [[ 9.79883698e-01 1.99494478e-01 5.46731599e-03 9.79166451e+01] [-1.99491699e-01 9.79898949e-01 -1.05447060e-03 -5.03772710e+00] [-5.56777826e-03 -5.74256070e-05 9.99984498e-01 -2.43401962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:-5.04, Z:-2.44 [[ 9.79949488e-01 1.99200444e-01 4.26417219e-03 9.79489157e+01] [-1.99198753e-01 9.79958765e-01 -8.22031789e-04 -5.04288606e+00] [-4.34246202e-03 -4.38681525e-05 9.99990571e-01 -2.43561378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:-5.05, Z:-2.44 [[ 9.79905227e-01 1.99430210e-01 3.65190044e-03 9.79810238e+01] [-1.99428971e-01 9.79912032e-01 -7.04052979e-04 -5.05232024e+00] [-3.71895061e-03 -3.83895531e-05 9.99993084e-01 -2.43655894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.01, Y:-5.06, Z:-2.44 [[ 9.79890685e-01 1.99499787e-01 3.75227840e-03 9.80132797e+01] [-1.99498476e-01 9.79897869e-01 -7.24268355e-04 -5.06091789e+00] [-3.82134099e-03 -3.88700069e-05 9.99992698e-01 -2.43677795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:-5.07, Z:-2.44 [[ 9.79784799e-01 2.00042928e-01 2.13882071e-03 9.80456627e+01] [-2.00042507e-01 9.79787133e-01 -4.11197144e-04 -5.06776148e+00] [-2.17784610e-03 -2.49703476e-05 9.99997628e-01 -2.43712329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.08, Y:-5.07, Z:-2.44 [[ 9.79745672e-01 2.00237182e-01 1.86763937e-03 9.80772174e+01] [-2.00236859e-01 9.79747452e-01 -3.60459829e-04 -5.07310452e+00] [-1.90199237e-03 -2.08112836e-05 9.99998191e-01 -2.43821839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:-5.08, Z:-2.44 [[ 9.79791951e-01 2.00012548e-01 1.64705789e-03 9.81099753e+01] [-2.00012298e-01 9.79793336e-01 -3.16228119e-04 -5.07875286e+00] [-1.67702594e-03 -1.95940693e-05 9.99998594e-01 -2.43929890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.14, Y:-5.08, Z:-2.44 [[ 9.79875583e-01 1.99604326e-01 1.39803073e-03 9.81420776e+01] [-1.99604147e-01 9.79876580e-01 -2.67957836e-04 -5.08469191e+00] [-1.42338311e-03 -1.64873903e-05 9.99998987e-01 -2.44077770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.17, Y:-5.09, Z:-2.44 [[ 9.80276216e-01 1.97623796e-01 1.83740352e-03 9.81729982e+01] [-1.97623479e-01 9.80277938e-01 -3.54275362e-04 -5.09235600e+00] [-1.87117938e-03 -1.58263649e-05 9.99998249e-01 -2.44272229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:-5.10, Z:-2.44 [[ 9.80491672e-01 1.96548742e-01 2.16160627e-03 9.82046625e+01] [-1.96548299e-01 9.80494055e-01 -4.17705799e-04 -5.10061936e+00] [-2.20154164e-03 -1.53029767e-05 9.99997576e-01 -2.44365460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:-5.11, Z:-2.44 [[ 9.80696818e-01 1.95516221e-01 2.67538942e-03 9.82356589e+01] [-1.95515533e-01 9.80700468e-01 -5.18858868e-04 -5.10889810e+00] [-2.72520098e-03 -1.42369485e-05 9.99996287e-01 -2.44387008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:-5.12, Z:-2.45 [[ 9.81098802e-01 1.93488384e-01 2.71780135e-03 9.82675046e+01] [-1.93487665e-01 9.81102566e-01 -5.27427934e-04 -5.11559651e+00] [-2.76849306e-03 -8.40212451e-06 9.99996168e-01 -2.44512811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.30, Y:-5.12, Z:-2.45 [[ 9.81132751e-01 1.93324880e-01 2.00377093e-03 9.82999831e+01] [-1.93324491e-01 9.81134797e-01 -3.88086330e-04 -5.12062014e+00] [-2.04099613e-03 -6.61378577e-06 9.99997917e-01 -2.44628549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:98.33, Y:-5.13, Z:-2.45 [[ 9.81033591e-01 1.93832131e-01 1.48272293e-03 9.83325822e+01] [-1.93831920e-01 9.81034711e-01 -2.86069420e-04 -5.12533652e+00] [-1.51005211e-03 -6.75532121e-06 9.99998860e-01 -2.44721656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.36, Y:-5.13, Z:-2.45 [[ 9.80864844e-01 1.94683148e-01 1.62178821e-03 9.83643312e+01] [-1.94682896e-01 9.80866184e-01 -3.13654145e-04 -5.13244828e+00] [-1.65182039e-03 -8.08209995e-06 9.99998636e-01 -2.44711351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-5.14, Z:-2.45 [[ 9.80647704e-01 1.95776419e-01 1.29428158e-03 9.83957293e+01] [-1.95776259e-01 9.80648558e-01 -2.49935577e-04 -5.13920132e+00] [-1.31816686e-03 -8.29085560e-06 9.99999131e-01 -2.44709834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-5.15, Z:-2.45 [[ 9.80468966e-01 1.96672087e-01 8.34861193e-04 9.84282912e+01] [-1.96672022e-01 9.80469321e-01 -1.59800791e-04 -5.14578225e+00] [-8.49984142e-04 -7.51412265e-06 9.99999639e-01 -2.44748951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:-5.15, Z:-2.45 [[ 9.80220707e-01 1.97902475e-01 1.40556626e-03 9.84596778e+01] [-1.97902288e-01 9.80221715e-01 -2.72630068e-04 -5.15170699e+00] [-1.43172073e-03 -1.09271396e-05 9.99998975e-01 -2.44835628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.49, Y:-5.16, Z:-2.45 [[ 9.80183323e-01 1.98084178e-01 1.81981644e-03 9.84924080e+01] [-1.98083862e-01 9.80185012e-01 -3.54185372e-04 -5.15806518e+00] [-1.85391531e-03 -1.33096735e-05 9.99998281e-01 -2.44876481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.52, Y:-5.16, Z:-2.45 [[ 9.80260917e-01 1.97696667e-01 2.13583192e-03 9.85248739e+01] [-1.97696228e-01 9.80263244e-01 -4.16895146e-04 -5.16368498e+00] [-2.17609631e-03 -1.35798942e-05 9.99997632e-01 -2.44900403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:-5.17, Z:-2.45 [[ 9.80784705e-01 1.95051701e-01 4.02437883e-03 9.85582892e+01] [-1.95050101e-01 9.80792962e-01 -7.90059940e-04 -5.16640506e+00] [-4.10118497e-03 -1.00767924e-05 9.99991590e-01 -2.45008998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-5.17, Z:-2.45 [[ 9.81162029e-01 1.93144498e-01 4.03439465e-03 9.85892368e+01] [-1.93142865e-01 9.81170323e-01 -7.94332414e-04 -5.17246546e+00] [-4.11184924e-03 1.54261460e-07 9.99991546e-01 -2.45116171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:-5.18, Z:-2.45 [[ 9.82044180e-01 1.88638997e-01 2.13463513e-03 9.86205684e+01] [-1.88638535e-01 9.82046500e-01 -4.17757645e-04 -5.18322731e+00] [-2.17511634e-03 7.58201965e-06 9.99997634e-01 -2.45197214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.65, Y:-5.19, Z:-2.45 [[ 9.82400341e-01 1.86779578e-01 1.72025488e-03 9.86530091e+01] [-1.86779276e-01 9.82401847e-01 -3.36052670e-04 -5.19107552e+00] [-1.75274935e-03 8.83029634e-06 9.99998464e-01 -2.45238683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:-5.20, Z:-2.45 [[ 9.82633113e-01 1.85551747e-01 1.64732759e-03 9.86838080e+01] [-1.85551468e-01 9.82634494e-01 -3.22225532e-04 -5.19804238e+00] [-1.67851042e-03 1.09654257e-05 9.99998591e-01 -2.45347901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-5.21, Z:-2.45 [[ 9.82924192e-01 1.84002490e-01 1.76542971e-03 9.87158886e+01] [-1.84002166e-01 9.82925777e-01 -3.45694051e-04 -5.20681555e+00] [-1.79889494e-03 1.49481555e-05 9.99998382e-01 -2.45439284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.75, Y:-5.21, Z:-2.45 [[ 9.82984092e-01 1.83680534e-01 1.93302743e-03 9.87477883e+01] [-1.83680143e-01 9.82985992e-01 -3.79195744e-04 -5.21344788e+00] [-1.96978977e-03 1.76846280e-05 9.99998060e-01 -2.45483387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-5.22, Z:-2.46 [[ 9.82846634e-01 1.84410532e-01 2.29127759e-03 9.87795027e+01] [-1.84409982e-01 9.82849305e-01 -4.50835527e-04 -5.22043140e+00] [-2.33511941e-03 2.05677205e-05 9.99997273e-01 -2.45543338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-5.23, Z:-2.46 [[ 9.82262868e-01 1.87485362e-01 2.98284877e-03 9.88104870e+01] [-1.87484437e-01 9.82267397e-01 -5.89205426e-04 -5.22756678e+00] [-3.04042248e-03 1.95168890e-05 9.99995378e-01 -2.45509044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.84, Y:-5.23, Z:-2.46 [[ 9.81815455e-01 1.89821181e-01 2.51636921e-03 9.88422784e+01] [-1.89820531e-01 9.81818679e-01 -4.96769643e-04 -5.23449338e+00] [-2.56491569e-03 1.00775742e-05 9.99996711e-01 -2.45511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.88, Y:-5.24, Z:-2.46 [[ 9.80519767e-01 1.96413725e-01 1.62349742e-03 9.88750770e+01] [-1.96413466e-01 9.80521111e-01 -3.19190270e-04 -5.23875014e+00] [-1.65456684e-03 -5.90438688e-06 9.99998631e-01 -2.45668170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:-5.24, Z:-2.46 [[ 9.79787284e-01 2.00039874e-01 9.62886048e-04 9.89072152e+01] [-2.00039787e-01 9.79787757e-01 -1.87635577e-04 -5.24397052e+00] [-9.80958558e-04 -8.77256669e-06 9.99999519e-01 -2.45770376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.94, Y:-5.25, Z:-2.46 [[ 9.79113408e-01 2.03313646e-01 7.03975689e-04 9.89400236e+01] [-2.03313601e-01 9.79113661e-01 -1.36069199e-04 -5.24971454e+00] [-7.16936939e-04 -9.90065510e-06 9.99999743e-01 -2.45826822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:-5.25, Z:-2.46 [[ 9.78135027e-01 2.07964740e-01 1.59243148e-03 9.89723220e+01] [-2.07964504e-01 9.78136323e-01 -3.14200735e-04 -5.25353321e+00] [-1.62295775e-03 -2.38384790e-05 9.99998683e-01 -2.45757668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-5.26, Z:-2.46 [[ 9.77860326e-01 2.09247818e-01 2.12897922e-03 9.90048574e+01] [-2.09247396e-01 9.77862643e-01 -4.21635164e-04 -5.25813559e+00] [-2.17007548e-03 -3.31830591e-05 9.99997645e-01 -2.45852839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:-5.26, Z:-2.46 [[ 9.77842900e-01 2.09329246e-01 2.12845381e-03 9.90376543e+01] [-2.09328818e-01 9.77845216e-01 -4.24260284e-04 -5.26483426e+00] [-2.17010846e-03 -3.06868145e-05 9.99997645e-01 -2.45931255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:-5.27, Z:-2.46 [[ 9.77794100e-01 2.09555192e-01 2.30653557e-03 9.90697982e+01] [-2.09554695e-01 9.77796820e-01 -4.57814580e-04 -5.26968503e+00] [-2.35126057e-03 -3.56969625e-05 9.99997235e-01 -2.45992822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:-5.28, Z:-2.46 [[ 9.77988120e-01 2.08647003e-01 2.38016875e-03 9.91013618e+01] [-2.08646469e-01 9.77991016e-01 -4.73324756e-04 -5.27536783e+00] [-2.42654145e-03 -3.37078173e-05 9.99997055e-01 -2.46138767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:-5.28, Z:-2.46 [[ 9.78856543e-01 2.04530780e-01 2.65095065e-03 9.91338230e+01] [-2.04530101e-01 9.78860133e-01 -5.27946175e-04 -5.28039278e+00] [-2.70289115e-03 -2.54156358e-05 9.99996347e-01 -2.46243782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.17, Y:-5.29, Z:-2.46 [[ 9.79377672e-01 2.02010449e-01 3.33988600e-03 9.91663446e+01] [-2.02009350e-01 9.79383366e-01 -6.66756557e-04 -5.28612130e+00] [-3.40572058e-03 -2.16817156e-05 9.99994200e-01 -2.46347594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.20, Y:-5.29, Z:-2.46 [[ 9.80409239e-01 1.96935933e-01 3.73676567e-03 9.91974248e+01] [-1.96934509e-01 9.80416360e-01 -7.48799171e-04 -5.29350281e+00] [-3.81105166e-03 -1.76848794e-06 9.99992738e-01 -2.46354519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.23, Y:-5.30, Z:-2.46 [[ 9.80857187e-01 1.94711187e-01 2.59484036e-03 9.92293474e+01] [-1.94710498e-01 9.80860619e-01 -5.18011528e-04 -5.29987956e+00] [-2.64603937e-03 2.85267079e-06 9.99996499e-01 -2.46439339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:-5.31, Z:-2.47 [[ 9.81200989e-01 1.92979800e-01 1.84797763e-03 9.92617437e+01] [-1.92979450e-01 9.81202730e-01 -3.67753839e-04 -5.30571333e+00] [-1.88420976e-03 4.21872493e-06 9.99998225e-01 -2.46562538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:-5.31, Z:-2.47 [[ 9.81668443e-01 1.90586201e-01 1.99220915e-03 9.92934291e+01] [-1.90585784e-01 9.81670464e-01 -3.98880836e-04 -5.31161643e+00] [-2.03171406e-03 1.18819861e-05 9.99997936e-01 -2.46708756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:-5.32, Z:-2.47 [[ 9.81744977e-01 1.90194702e-01 1.66625573e-03 9.93261110e+01] [-1.90194413e-01 9.81746391e-01 -3.31720999e-04 -5.31843011e+00] [-1.69893213e-03 8.75289410e-06 9.99998557e-01 -2.46783201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:-5.32, Z:-2.47 [[ 9.81731553e-01 1.90268617e-01 1.00612079e-03 9.93585930e+01] [-1.90268513e-01 9.81732068e-01 -1.98603787e-04 -5.32494338e+00] [-1.02552911e-03 3.54249843e-06 9.99999474e-01 -2.46874018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:99.39, Y:-5.33, Z:-2.47 [[ 9.81706234e-01 1.90400513e-01 7.18174734e-04 9.93904093e+01] [-1.90400461e-01 9.81706496e-01 -1.40868506e-04 -5.32980884e+00] [-7.31858238e-04 1.55069064e-06 9.99999732e-01 -2.46979480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:-5.34, Z:-2.47 [[ 9.81652182e-01 1.90679913e-01 4.04482118e-04 9.94221840e+01] [-1.90679898e-01 9.81652266e-01 -7.73196058e-05 -5.33696117e+00] [-4.11804083e-04 -1.22564906e-06 9.99999915e-01 -2.47059092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:-5.34, Z:-2.47 [[ 9.81544707e-01 1.91231964e-01 5.70079929e-04 9.94530350e+01] [-1.91231932e-01 9.81544872e-01 -1.11274078e-04 -5.34358953e+00] [-5.80838191e-04 2.02995664e-07 9.99999831e-01 -2.47017108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.48, Y:-5.35, Z:-2.47 [[ 9.81540515e-01 1.91250656e-01 1.18479354e-03 9.94842322e+01] [-1.91250510e-01 9.81541230e-01 -2.36137726e-04 -5.34943104e+00] [-1.20808520e-03 5.18637567e-06 9.99999270e-01 -2.47028696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.52, Y:-5.36, Z:-2.47 [[ 9.81507128e-01 1.91417026e-01 1.81094857e-03 9.95159918e+01] [-1.91416682e-01 9.81508799e-01 -3.63112421e-04 -5.35622943e+00] [-1.84696786e-03 9.75166249e-06 9.99998294e-01 -2.47095780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.55, Y:-5.36, Z:-2.47 [[ 9.81435654e-01 1.91784002e-01 1.71836571e-03 9.95486351e+01] [-1.91783692e-01 9.81437159e-01 -3.44592628e-04 -5.36037929e+00] [-1.75255532e-03 8.64097005e-06 9.99998464e-01 -2.47160387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.58, Y:-5.37, Z:-2.47 [[ 9.81352975e-01 1.92207071e-01 1.66715881e-03 9.95797467e+01] [-1.92206780e-01 9.81354391e-01 -3.34826800e-04 -5.36565409e+00] [-1.70042970e-03 8.14404963e-06 9.99998554e-01 -2.47320456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:-5.37, Z:-2.47 [[ 9.81320404e-01 1.92370524e-01 1.96092121e-03 9.96114953e+01] [-1.92370119e-01 9.81322364e-01 -3.95196851e-04 -5.37230734e+00] [-2.00032006e-03 1.05920878e-05 9.99997999e-01 -2.47407447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:-5.38, Z:-2.47 [[ 9.81321077e-01 1.92362436e-01 2.37422950e-03 9.96433747e+01] [-1.92361839e-01 9.81323949e-01 -4.79460874e-04 -5.37967508e+00] [-2.42211853e-03 1.37939089e-05 9.99997067e-01 -2.47456028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-5.39, Z:-2.47 [[ 9.81287701e-01 1.92532383e-01 2.39367487e-03 9.96746639e+01] [-1.92531774e-01 9.81290620e-01 -4.84175075e-04 -5.38879202e+00] [-2.44211008e-03 1.42565761e-05 9.99997018e-01 -2.47381737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.71, Y:-5.40, Z:-2.47 [[ 9.81158475e-01 1.93191323e-01 2.27158161e-03 9.97069480e+01] [-1.93190777e-01 9.81161104e-01 -4.59475482e-04 -5.39537923e+00] [-2.31755420e-03 1.19696463e-05 9.99997314e-01 -2.47378169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:-5.40, Z:-2.47 [[ 9.80896957e-01 1.94511948e-01 2.50228868e-03 9.97389715e+01] [-1.94511288e-01 9.80900149e-01 -5.06949006e-04 -5.40082103e+00] [-2.55310298e-03 1.05413428e-05 9.99996741e-01 -2.47467991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:-5.41, Z:-2.48 [[ 9.80113745e-01 1.98405795e-01 3.49099954e-03 9.97704368e+01] [-1.98404524e-01 9.80119962e-01 -7.10075419e-04 -5.40507082e+00] [-3.56248142e-03 3.32457522e-06 9.99993654e-01 -2.47626018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:-5.41, Z:-2.48 [[ 9.79639421e-01 2.00740424e-01 3.14446602e-03 9.98024239e+01] [-2.00739406e-01 9.79644467e-01 -6.39570803e-04 -5.41108958e+00] [-3.20884645e-03 -4.66946967e-06 9.99994852e-01 -2.47727414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:-5.42, Z:-2.48 [[ 9.78874464e-01 2.04427220e-01 3.78090638e-03 9.98336631e+01] [-2.04425767e-01 9.78881766e-01 -7.70953481e-04 -5.41736548e+00] [-3.85866419e-03 -1.82480085e-05 9.99992555e-01 -2.47862336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-5.42, Z:-2.48 [[ 9.78651245e-01 2.05474831e-01 4.67264431e-03 9.98659945e+01] [-2.05472617e-01 9.78662400e-01 -9.54336134e-04 -5.42497488e+00] [-4.76903335e-03 -2.61382082e-05 9.99988628e-01 -2.47865139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:-5.43, Z:-2.48 [[ 9.78530646e-01 2.06048907e-01 4.64992864e-03 9.98969153e+01] [-2.06046710e-01 9.78541694e-01 -9.52011895e-04 -5.43256981e+00] [-4.74631006e-03 -2.65296806e-05 9.99988736e-01 -2.47885023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:-5.44, Z:-2.48 [[ 9.78478883e-01 2.06322024e-01 3.20903613e-03 9.99290062e+01] [-2.06320985e-01 9.78484145e-01 -6.55133668e-04 -5.43977232e+00] [-3.27515948e-03 -2.10570374e-05 9.99994636e-01 -2.47991065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.44, Z:-2.48 [[ 9.78492164e-01 2.06282328e-01 8.27761278e-04 9.99615371e+01] [-2.06282262e-01 9.78492515e-01 -1.65815790e-04 -5.44390608e+00] [-8.44163082e-04 -8.50301759e-06 9.99999644e-01 -2.48211431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:-5.45, Z:-2.48 [[ 9.78507109e-01 2.06210766e-01 9.78303912e-04 9.99940539e+01] [-2.06210672e-01 9.78507598e-01 -1.96973316e-04 -5.44970044e+00] [-9.97895830e-04 -8.99691713e-06 9.99999502e-01 -2.48385881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:-5.46, Z:-2.48 [[ 9.78467337e-01 2.06398601e-01 1.13522863e-03 1.00026084e+02] [-2.06398474e-01 9.78467995e-01 -2.29522972e-04 -5.45610837e+00] [-1.15815810e-03 -9.72872476e-06 9.99999329e-01 -2.48393263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:-5.46, Z:-2.48 [[ 9.78333417e-01 2.07033166e-01 9.97110723e-04 1.00057948e+02] [-2.07033069e-01 9.78333925e-01 -2.01148814e-04 -5.46262803e+00] [-1.01715172e-03 -9.64428616e-06 9.99999483e-01 -2.48448137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-5.47, Z:-2.49 [[ 9.78162505e-01 2.07839813e-01 8.52554925e-04 1.00090697e+02] [-2.07839742e-01 9.78162876e-01 -1.71509464e-04 -5.46936105e+00] [-8.69584073e-04 -9.43066873e-06 9.99999622e-01 -2.48517359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:-5.48, Z:-2.49 [[ 9.77764249e-01 2.09705912e-01 7.09323908e-04 1.00122849e+02] [-2.09705865e-01 9.77764507e-01 -1.42052203e-04 -5.47566265e+00] [-7.23340928e-04 -9.85581821e-06 9.99999738e-01 -2.48557839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:-5.48, Z:-2.49 [[ 9.77609887e-01 2.10420996e-01 1.38299468e-03 1.00154805e+02] [-2.10420809e-01 9.77610865e-01 -2.81527193e-04 -5.48159581e+00] [-1.41126985e-03 -1.57870909e-05 9.99999004e-01 -2.48607421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:-5.49, Z:-2.49 [[ 9.77617684e-01 2.10315572e-01 5.56995771e-03 1.00186878e+02] [-2.10312437e-01 9.77633550e-01 -1.14940127e-03 -5.48540110e+00] [-5.68711451e-03 -4.77563731e-05 9.99983827e-01 -2.48617525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:-5.49, Z:-2.49 [[ 9.77865278e-01 2.09139080e-01 6.35168622e-03 1.00219359e+02] [-2.09134967e-01 9.77885905e-01 -1.31241077e-03 -5.49122632e+00] [-6.48570080e-03 -4.49987615e-05 9.99978967e-01 -2.48684997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:-5.50, Z:-2.49 [[ 9.78258915e-01 2.07304153e-01 5.87220239e-03 1.00250939e+02] [-2.07300598e-01 9.78276539e-01 -1.21437598e-03 -5.49745333e+00] [-5.99638302e-03 -2.93369388e-05 9.99982021e-01 -2.48779081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.28, Y:-5.50, Z:-2.49 [[ 9.78730220e-01 2.05096497e-01 4.75220695e-03 1.00283055e+02] [-2.05094144e-01 9.78741757e-01 -9.82589799e-04 -5.50337376e+00] [-4.85270910e-03 -1.29594856e-05 9.99988225e-01 -2.48895483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:-5.51, Z:-2.49 [[ 9.79691119e-01 2.00465199e-01 4.36065089e-03 1.00315574e+02] [-2.00463169e-01 9.79700824e-01 -9.02100467e-04 -5.51038173e+00] [-4.45297302e-03 9.62991715e-06 9.99990085e-01 -2.49096086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:-5.52, Z:-2.49 [[ 9.80144930e-01 1.98223974e-01 4.81371874e-03 1.00347906e+02] [-1.98221467e-01 9.80156750e-01 -9.97232588e-04 -5.51744365e+00] [-4.91587433e-03 2.32500728e-05 9.99987917e-01 -2.49179830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:-5.52, Z:-2.49 [[ 9.80963045e-01 1.94125285e-01 5.18432953e-03 1.00379551e+02] [-1.94122311e-01 9.80976743e-01 -1.07565335e-03 -5.52477264e+00] [-5.29451821e-03 4.87821540e-05 9.99985983e-01 -2.49158447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-5.53, Z:-2.49 [[ 9.81336628e-01 1.92237854e-01 4.79897583e-03 1.00411670e+02] [-1.92235272e-01 9.81348360e-01 -9.98050058e-04 -5.53149284e+00] [-4.90133006e-03 5.68906552e-05 9.99987987e-01 -2.49212410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:-5.54, Z:-2.49 [[ 9.82033231e-01 1.88651417e-01 4.62347332e-03 1.00443178e+02] [-1.88648987e-01 9.82044112e-01 -9.60029067e-04 -5.53807320e+00] [-4.72156560e-03 7.05668857e-05 9.99988851e-01 -2.49262803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:-5.55, Z:-2.49 [[ 9.82305260e-01 1.87218523e-01 5.05981446e-03 1.00475125e+02] [-1.87215588e-01 9.82318287e-01 -1.05185298e-03 -5.54538241e+00] [-5.16727464e-03 8.59645807e-05 9.99986646e-01 -2.49293771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:-5.55, Z:-2.49 [[ 9.82623825e-01 1.85530869e-01 5.35871904e-03 1.00506390e+02] [-1.85527537e-01 9.82638431e-01 -1.11665761e-03 -5.55209470e+00] [-5.47285772e-03 1.03064428e-04 9.99985018e-01 -2.49344366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:-5.56, Z:-2.49 [[ 9.82960596e-01 1.83741842e-01 5.23469887e-03 1.00538913e+02] [-1.83738641e-01 9.82974528e-01 -1.09007237e-03 -5.55834542e+00] [-5.34586756e-03 1.09681730e-04 9.99985705e-01 -2.49472245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-5.56, Z:-2.50 [[ 9.83789872e-01 1.79245740e-01 5.33405050e-03 1.00570904e+02] [-1.79242344e-01 9.83804323e-01 -1.11190309e-03 -5.56445531e+00] [-5.44696583e-03 1.37791281e-04 9.99985156e-01 -2.49700637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-5.57, Z:-2.50 [[ 9.84229775e-01 1.76806697e-01 5.58049351e-03 1.00602693e+02] [-1.76802933e-01 9.84245582e-01 -1.16461644e-03 -5.57337649e+00] [-5.69848807e-03 1.59602558e-04 9.99983751e-01 -2.49732878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-5.58, Z:-2.50 [[ 9.84592812e-01 1.74757778e-01 6.05922382e-03 1.00633333e+02] [-1.74753291e-01 9.84611438e-01 -1.26634584e-03 -5.58255886e+00] [-6.18728486e-03 1.87965707e-04 9.99980841e-01 -2.49746660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-5.59, Z:-2.50 [[ 9.85013945e-01 1.72373336e-01 5.91272549e-03 1.00664881e+02] [-1.72369016e-01 9.85031671e-01 -1.23654485e-03 -5.59180869e+00] [-6.03736923e-03 1.98843252e-04 9.99981755e-01 -2.49808027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:-5.60, Z:-2.50 [[ 9.85002219e-01 1.72473086e-01 4.86456860e-03 1.00697260e+02] [-1.72470162e-01 9.85014217e-01 -1.01744133e-03 -5.60023262e+00] [-4.96715048e-03 1.63189029e-04 9.99987650e-01 -2.49897921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:-5.61, Z:-2.50 [[ 9.84521206e-01 1.75210953e-01 4.37229142e-03 1.00727556e+02] [-1.75208609e-01 9.84530905e-01 -9.16295648e-04 -5.61127893e+00] [-4.46520107e-03 1.36049396e-04 9.99990022e-01 -2.49939349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:-5.62, Z:-2.50 [[ 9.84055477e-01 1.77790712e-01 5.02802113e-03 1.00759549e+02] [-1.77787648e-01 9.84068312e-01 -1.05355081e-03 -5.61851173e+00] [-5.13522781e-03 1.42832395e-04 9.99986804e-01 -2.49969721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:-5.62, Z:-2.50 [[ 9.83512826e-01 1.80765028e-01 5.15023940e-03 1.00791561e+02] [-1.80761848e-01 9.83526302e-01 -1.08028917e-03 -5.62400564e+00] [-5.26067441e-03 1.31511464e-04 9.99986154e-01 -2.50075462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:-5.63, Z:-2.50 [[ 9.83000564e-01 1.83542546e-01 4.69301982e-03 1.00824084e+02] [-1.83539935e-01 9.83011761e-01 -9.84767212e-04 -5.63006492e+00] [-4.79404036e-03 1.06670172e-04 9.99988503e-01 -2.50222806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:-5.64, Z:-2.50 [[ 9.82306321e-01 1.87234730e-01 4.17710407e-03 1.00854996e+02] [-1.87232693e-01 9.82315199e-01 -8.77105109e-04 -5.63734975e+00] [-4.26745736e-03 7.94954497e-05 9.99990891e-01 -2.50369026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:-5.65, Z:-2.50 [[ 9.81992815e-01 1.88862342e-01 4.59635815e-03 1.00886747e+02] [-1.88859888e-01 9.82003569e-01 -9.66236280e-04 -5.64582887e+00] [-4.69612575e-03 8.07694004e-05 9.99988970e-01 -2.50447983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:-5.66, Z:-2.51 [[ 9.81593349e-01 1.90921347e-01 4.85139962e-03 1.00917033e+02] [-1.90918631e-01 9.81605335e-01 -1.02130502e-03 -5.65654140e+00] [-4.95714868e-03 7.62836442e-05 9.99987710e-01 -2.50525431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:-5.67, Z:-2.51 [[ 9.81478581e-01 1.91526345e-01 4.17771929e-03 1.00949049e+02] [-1.91524337e-01 9.81487471e-01 -8.79378241e-04 -5.66600551e+00] [-4.26880324e-03 6.29559929e-05 9.99990887e-01 -2.50587308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:-5.67, Z:-2.51 [[ 9.81370778e-01 1.92092848e-01 3.42551918e-03 1.00979830e+02] [-1.92091496e-01 9.81376755e-01 -7.22388071e-04 -5.67403113e+00] [-3.50049048e-03 5.09174392e-05 9.99993872e-01 -2.50697877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:-5.68, Z:-2.51 [[ 9.81038877e-01 1.93770399e-01 3.96919575e-03 1.01012490e+02] [-1.93768600e-01 9.81046905e-01 -8.36559167e-04 -5.68018819e+00] [-4.05606761e-03 5.15915613e-05 9.99991773e-01 -2.50851120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:-5.69, Z:-2.51 [[ 9.80773827e-01 1.95101934e-01 4.23514180e-03 1.01044034e+02] [-1.95099892e-01 9.80782969e-01 -8.94016894e-04 -5.68678890e+00] [-4.32817938e-03 5.05526622e-05 9.99990632e-01 -2.50965016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:-5.69, Z:-2.51 [[ 9.80757678e-01 1.95183105e-01 4.23460398e-03 1.01076751e+02] [-1.95181053e-01 9.80766819e-01 -8.96552898e-04 -5.69387029e+00] [-4.32815105e-03 5.27866727e-05 9.99990632e-01 -2.51043424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:-5.70, Z:-2.51 [[ 9.80458506e-01 1.96694263e-01 3.53352347e-03 1.01108347e+02] [-1.96692852e-01 9.80464872e-01 -7.45944263e-04 -5.70195353e+00] [-3.61121860e-03 3.63485895e-05 9.99993479e-01 -2.51127999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.14, Y:-5.71, Z:-2.51 [[ 9.79816584e-01 1.99888273e-01 2.03452905e-03 1.01139748e+02] [-1.99887816e-01 9.79818696e-01 -4.27865193e-04 -5.71226961e+00] [-2.07899484e-03 1.25518425e-05 9.99997839e-01 -2.51177832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:-5.72, Z:-2.51 [[ 9.79356783e-01 2.02123356e-01 2.53779857e-03 1.01170756e+02] [-2.02122643e-01 9.79360071e-01 -5.36942709e-04 -5.72046139e+00] [-2.59394725e-03 1.29119302e-05 9.99996636e-01 -2.51191681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:-5.73, Z:-2.51 [[ 9.78119981e-01 2.08004858e-01 3.90916327e-03 1.01203478e+02] [-2.08003211e-01 9.78127793e-01 -8.27762940e-04 -5.72743804e+00] [-3.99583995e-03 -3.46703866e-06 9.99992017e-01 -2.51163937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:-5.73, Z:-2.51 [[ 9.77388633e-01 2.11414498e-01 3.92044866e-03 1.01235495e+02] [-2.11412866e-01 9.77396496e-01 -8.30980790e-04 -5.73378539e+00] [-4.00751417e-03 -1.66421079e-05 9.99991970e-01 -2.51256464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:-5.74, Z:-2.51 [[ 9.76598111e-01 2.15029223e-01 4.30849711e-03 1.01267641e+02] [-2.15027281e-01 9.76607614e-01 -9.14504889e-04 -5.74024156e+00] [-4.40435636e-03 -3.33406727e-05 9.99990300e-01 -2.51355121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.30, Y:-5.75, Z:-2.51 [[ 9.74972229e-01 2.22265441e-01 5.21792895e-03 1.01300528e+02] [-2.22262686e-01 9.74986188e-01 -1.10938114e-03 -5.74516745e+00] [-5.33398575e-03 -7.81350964e-05 9.99985771e-01 -2.51490608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:-5.75, Z:-2.52 [[ 9.74171868e-01 2.25761915e-01 4.55302317e-03 1.01331784e+02] [-2.25759852e-01 9.74182504e-01 -9.68616886e-04 -5.75090679e+00] [-4.65415231e-03 -8.42905180e-05 9.99989166e-01 -2.51593076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:-5.76, Z:-2.52 [[ 9.73581357e-01 2.28307422e-01 3.88103057e-03 1.01363468e+02] [-2.28305938e-01 9.73589089e-01 -8.27042274e-04 -5.75724371e+00] [-3.96734891e-03 -8.08693870e-05 9.99992127e-01 -2.51703230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:-5.76, Z:-2.52 [[ 9.73191814e-01 2.29962777e-01 3.84897119e-03 1.01396608e+02] [-2.29961334e-01 9.73199421e-01 -8.19436952e-04 -5.76085550e+00] [-3.93425653e-03 -8.76452146e-05 9.99992257e-01 -2.51807685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:-5.77, Z:-2.52 [[ 9.73482687e-01 2.28731630e-01 3.64680540e-03 1.01429674e+02] [-2.28730325e-01 9.73489515e-01 -7.76776910e-04 -5.76527747e+00] [-3.72780027e-03 -7.79561085e-05 9.99993049e-01 -2.51948364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:-5.77, Z:-2.52 [[ 9.74862104e-01 2.22799760e-01 2.03621575e-03 1.01462460e+02] [-2.22799343e-01 9.74864230e-01 -4.31939284e-04 -5.76978443e+00] [-2.08126986e-03 -3.25862920e-05 9.99997834e-01 -2.52135392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:-5.78, Z:-2.52 [[ 9.75687010e-01 2.19158704e-01 2.07870913e-03 1.01494157e+02] [-2.19158257e-01 9.75689224e-01 -4.43077340e-04 -5.77651078e+00] [-2.12527835e-03 -2.32614639e-05 9.99997741e-01 -2.52269777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:-5.78, Z:-2.52 [[ 9.76505303e-01 2.15477400e-01 2.62354374e-03 1.01525299e+02] [-2.15476675e-01 9.76508827e-01 -5.59110288e-04 -5.78359880e+00] [-2.68238926e-03 -1.93383224e-05 9.99996402e-01 -2.52367187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:-5.79, Z:-2.52 [[ 9.77280697e-01 2.11925805e-01 3.14518665e-03 1.01557124e+02] [-2.11924741e-01 9.77285758e-01 -6.71513264e-04 -5.79116903e+00] [-3.21605711e-03 -1.02859169e-05 9.99994828e-01 -2.52415772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:-5.80, Z:-2.52 [[ 9.78612933e-01 2.05690640e-01 2.84407520e-03 1.01589864e+02] [-2.05689743e-01 9.78617065e-01 -6.07351652e-04 -5.79731562e+00] [-2.90818708e-03 9.36508381e-06 9.99995771e-01 -2.52386133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:-5.80, Z:-2.52 [[ 9.79041190e-01 2.03638417e-01 3.12159476e-03 1.01622995e+02] [-2.03637323e-01 9.79046166e-01 -6.67672889e-04 -5.80168700e+00] [-3.19214923e-03 1.80060600e-05 9.99994905e-01 -2.52472690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:-5.80, Z:-2.53 [[ 9.79603680e-01 2.00897457e-01 4.10401735e-03 1.01655782e+02] [-2.00895533e-01 9.79612276e-01 -8.80004250e-04 -5.80367382e+00] [-4.19713640e-03 3.75766487e-05 9.99991191e-01 -2.52591787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:-5.81, Z:-2.53 [[ 9.79869837e-01 1.99593850e-01 4.17109481e-03 1.01687422e+02] [-1.99591846e-01 9.79878713e-01 -8.95527080e-04 -5.81069272e+00] [-4.26590872e-03 4.49834593e-05 9.99990900e-01 -2.52649063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:-5.82, Z:-2.53 [[ 9.80137363e-01 1.98279642e-01 3.99167905e-03 1.01719137e+02] [-1.98277795e-01 9.80145490e-01 -8.57115090e-04 -5.81858431e+00] [-4.08237469e-03 4.86292020e-05 9.99991666e-01 -2.52679989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.75, Y:-5.82, Z:-2.53 [[ 9.80605323e-01 1.95940759e-01 4.51881145e-03 1.01750379e+02] [-1.95938359e-01 9.80615732e-01 -9.72119754e-04 -5.82376722e+00] [-4.62169548e-03 6.78573045e-05 9.99989318e-01 -2.52753208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382200001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:101.78, Y:-5.83, Z:-2.53 [[ 9.80921333e-01 1.94340756e-01 5.00096587e-03 1.01782688e+02] [-1.94337790e-01 9.80934077e-01 -1.07707963e-03 -5.82922213e+00] [-5.11493831e-03 8.46537347e-05 9.99986915e-01 -2.52881067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-5.84, Z:-2.53 [[ 9.81281686e-01 1.92506011e-01 5.26192869e-03 1.01814289e+02] [-1.92502692e-01 9.81295789e-01 -1.13485029e-03 -5.83528337e+00] [-5.38197397e-03 1.00672371e-04 9.99985512e-01 -2.52987622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:-5.84, Z:-2.53 [[ 9.82209063e-01 1.87731008e-01 4.73549214e-03 1.01846288e+02] [-1.87728262e-01 9.82220472e-01 -1.02186018e-03 -5.84038507e+00] [-4.84313217e-03 1.14694625e-04 9.99988265e-01 -2.53088863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.88, Y:-5.85, Z:-2.53 [[ 9.82586830e-01 1.85768037e-01 3.65481477e-03 1.01878068e+02] [-1.85766390e-01 9.82593623e-01 -7.88131265e-04 -5.84788118e+00] [-3.73760729e-03 9.54656547e-05 9.99993011e-01 -2.53227704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:101.91, Y:-5.86, Z:-2.53 [[ 9.82978795e-01 1.83701092e-01 2.56838365e-03 1.01909502e+02] [-1.83700274e-01 9.82982148e-01 -5.52823800e-04 -5.85629596e+00] [-2.62622961e-03 7.16012927e-05 9.99996549e-01 -2.53363982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:-5.87, Z:-2.53 [[ 9.83621134e-01 1.80241824e-01 1.53291210e-03 1.01939640e+02] [-1.80241531e-01 9.83622327e-01 -3.28628339e-04 -5.86990559e+00] [-1.56703914e-03 4.69513555e-05 9.99998771e-01 -2.53347858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:-5.88, Z:-2.53 [[ 9.83755870e-01 1.79503964e-01 1.64761289e-03 1.01971556e+02] [-1.79503624e-01 9.83757249e-01 -3.53747056e-04 -5.87875906e+00] [-1.68435012e-03 5.22482591e-05 9.99998580e-01 -2.53340230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:-5.88, Z:-2.53 [[ 9.83520251e-01 1.80762465e-01 3.58418515e-03 1.02003641e+02] [-1.80760837e-01 9.83526775e-01 -7.75696949e-04 -5.88492386e+00] [-3.66535896e-03 1.15033350e-04 9.99993276e-01 -2.53418986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:-5.89, Z:-2.53 [[ 9.83210792e-01 1.82428081e-01 4.06623005e-03 1.02035389e+02] [-1.82425995e-01 9.83219192e-01 -8.81388073e-04 -5.89262691e+00] [-4.15878536e-03 1.24804203e-04 9.99991344e-01 -2.53487507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:-5.90, Z:-2.54 [[ 9.82787219e-01 1.84695438e-01 4.10824832e-03 1.02066073e+02] [-1.84693318e-01 9.82795798e-01 -8.92837750e-04 -5.90183984e+00] [-4.20247225e-03 1.18703515e-04 9.99991163e-01 -2.53560503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:-5.91, Z:-2.53 [[ 9.81719377e-01 1.90293675e-01 3.92205443e-03 1.02096880e+02] [-1.90291792e-01 9.81727207e-01 -8.51181787e-04 -5.91363163e+00] [-4.01236205e-03 8.92868883e-05 9.99991946e-01 -2.53480565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:-5.92, Z:-2.54 [[ 9.81012881e-01 1.93893821e-01 4.34891787e-03 1.02127899e+02] [-1.93891534e-01 9.81022517e-01 -9.45532105e-04 -5.92156043e+00] [-4.44971919e-03 8.43608174e-05 9.99990096e-01 -2.53536623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:-5.93, Z:-2.54 [[ 9.80310533e-01 1.97417659e-01 4.18662740e-03 1.02159599e+02] [-1.97415569e-01 9.80319470e-01 -9.10798002e-04 -5.92969072e+00] [-4.28403996e-03 6.63594446e-05 9.99990821e-01 -2.53637026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:102.19, Y:-5.94, Z:-2.54 [[ 9.79142354e-01 2.03157474e-01 2.70021026e-03 1.02191234e+02] [-2.03156629e-01 9.79146077e-01 -5.86306880e-04 -5.93738961e+00] [-2.76301291e-03 2.55122832e-05 9.99996183e-01 -2.53817181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784203822 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:102.22, Y:-5.94, Z:-2.54 [[ 9.78554913e-01 2.05963866e-01 3.02783298e-03 1.02223224e+02] [-2.05962814e-01 9.78559597e-01 -6.58474974e-04 -5.94430112e+00] [-3.09853708e-03 2.07329179e-05 9.99995199e-01 -2.53949414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:-5.95, Z:-2.54 [[ 9.77486088e-01 2.10961549e-01 4.02155218e-03 1.02254660e+02] [-2.10959725e-01 9.77494360e-01 -8.77271905e-04 -5.95174939e+00] [-4.11611522e-03 9.13553959e-06 9.99991529e-01 -2.54157000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:-5.96, Z:-2.54 [[ 9.76948328e-01 2.13453968e-01 3.06087223e-03 1.02285428e+02] [-2.13452925e-01 9.76953123e-01 -6.67328418e-04 -5.95998954e+00] [-3.13277258e-03 -1.40674663e-06 9.99995093e-01 -2.54275133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:-5.97, Z:-2.54 [[ 9.76432148e-01 2.15816900e-01 1.82403447e-03 1.02316908e+02] [-2.15816536e-01 9.76433851e-01 -3.96108008e-04 -5.96920678e+00] [-1.86653580e-03 -6.88420771e-06 9.99998258e-01 -2.54327555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:-5.98, Z:-2.54 [[ 9.75734357e-01 2.18937375e-01 2.98178344e-03 1.02347819e+02] [-2.18936404e-01 9.75738913e-01 -6.52484925e-04 -5.97931158e+00] [-3.05229547e-03 -1.61689843e-05 9.99995342e-01 -2.54205366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-5.99, Z:-2.54 [[ 9.75518727e-01 2.19887655e-01 3.55433881e-03 1.02379624e+02] [-2.19886282e-01 9.75525201e-01 -7.77345851e-04 -5.98776938e+00] [-3.63827584e-03 -2.32349124e-05 9.99993381e-01 -2.54189902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:-6.00, Z:-2.54 [[ 9.75379646e-01 2.20513938e-01 2.85480743e-03 1.02411913e+02] [-2.20513056e-01 9.75383823e-01 -6.23954237e-04 -5.99594825e+00] [-2.92212359e-03 -2.09300498e-05 9.99995730e-01 -2.54247033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-6.00, Z:-2.55 [[ 9.75140218e-01 2.21586554e-01 9.76581004e-04 1.02442813e+02] [-2.21586453e-01 9.75140707e-01 -2.10928147e-04 -6.00420085e+00] [-9.99042732e-04 -1.07126019e-05 9.99999501e-01 -2.54522368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:-6.01, Z:-2.55 [[ 9.75014152e-01 2.22138994e-01 1.29248095e-03 1.02474926e+02] [-2.22138817e-01 9.75015009e-01 -2.80559930e-04 -6.01293464e+00] [-1.32251162e-03 -1.35602867e-05 9.99999125e-01 -2.54694455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:-6.02, Z:-2.55 [[ 9.74504880e-01 2.24341533e-01 3.33404740e-03 1.02505947e+02] [-2.24340344e-01 9.74510582e-01 -7.31457876e-04 -6.02400012e+00] [-3.41316085e-03 -3.51520689e-05 9.99994175e-01 -2.54699284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:-6.03, Z:-2.55 [[ 9.74001089e-01 2.26495839e-01 4.63836595e-03 1.02538383e+02] [-2.26493548e-01 9.74012131e-01 -1.02026133e-03 -6.03206457e+00] [-4.74890965e-03 -5.68243142e-05 9.99988722e-01 -2.54586852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:-6.04, Z:-2.55 [[ 9.73341579e-01 2.29288428e-01 5.74354525e-03 1.02571104e+02] [-2.29284951e-01 9.73358521e-01 -1.26562780e-03 -6.03904503e+00] [-5.88072251e-03 -8.50203325e-05 9.99982705e-01 -2.54535488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:-6.05, Z:-2.55 [[ 9.72626381e-01 2.32284079e-01 6.48303008e-03 1.02602044e+02] [-2.32279701e-01 9.72647980e-01 -1.43066174e-03 -6.04503074e+00] [-6.63802606e-03 -1.14376944e-04 9.99977962e-01 -2.54522975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:-6.05, Z:-2.55 [[ 9.71249381e-01 2.38004446e-01 5.34079702e-03 1.02634719e+02] [-2.38001561e-01 9.71264057e-01 -1.17865028e-03 -6.04884804e+00] [-5.46784818e-03 -1.26354670e-04 9.99985043e-01 -2.54562147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:-6.05, Z:-2.55 [[ 9.70693705e-01 2.40280078e-01 4.38362204e-03 1.02666468e+02] [-2.40278156e-01 9.70703596e-01 -9.67714788e-04 -6.05422413e+00] [-4.48772026e-03 -1.13933968e-04 9.99989924e-01 -2.54642612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:-6.06, Z:-2.55 [[ 9.70277780e-01 2.41958626e-01 4.12952396e-03 1.02699293e+02] [-2.41956935e-01 9.70286561e-01 -9.11908889e-04 -6.05979318e+00] [-4.22746582e-03 -1.14362026e-04 9.99991058e-01 -2.54806930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:-6.06, Z:-2.55 [[ 9.69917355e-01 2.43371722e-01 5.52542209e-03 1.02731891e+02] [-2.43368703e-01 9.69933080e-01 -1.22256746e-03 -6.06340494e+00] [-5.65682802e-03 -1.58925410e-04 9.99983987e-01 -2.54965282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.76, Y:-6.07, Z:-2.55 [[ 9.70059833e-01 2.42809600e-01 5.23624936e-03 1.02763331e+02] [-2.42806875e-01 9.70073954e-01 -1.15963723e-03 -6.06843774e+00] [-5.36112017e-03 -1.46479840e-04 9.99985618e-01 -2.55104204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:-6.07, Z:-2.55 [[ 9.70323578e-01 2.41757608e-01 5.04111722e-03 1.02794389e+02] [-2.41755063e-01 9.70336664e-01 -1.11733567e-03 -6.07434395e+00] [-5.16170527e-03 -1.34538470e-04 9.99986669e-01 -2.55176906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:-6.08, Z:-2.55 [[ 9.71323250e-01 2.37685666e-01 6.05542154e-03 1.02827013e+02] [-2.37681902e-01 9.71342116e-01 -1.34421176e-03 -6.07687260e+00] [-6.20138584e-03 -1.33599975e-04 9.99980762e-01 -2.55257952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:-6.08, Z:-2.55 [[ 9.71871307e-01 2.35451780e-01 5.34990576e-03 1.02859969e+02] [-2.35448807e-01 9.71886026e-01 -1.18787803e-03 -6.08185790e+00] [-5.47918665e-03 -1.05164355e-04 9.99984984e-01 -2.55372196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:-6.09, Z:-2.55 [[ 9.73417198e-01 2.29022773e-01 2.74363329e-03 1.02892801e+02] [-2.29021970e-01 9.73421064e-01 -6.07591334e-04 -6.08760323e+00] [-2.80986269e-03 -3.69124455e-05 9.99996052e-01 -2.55417333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:-6.09, Z:-2.55 [[ 9.74342945e-01 2.25049805e-01 2.90023608e-03 1.02923781e+02] [-2.25048887e-01 9.74347261e-01 -6.43302289e-04 -6.09476557e+00] [-2.97061213e-03 -2.58978549e-05 9.99995587e-01 -2.55443505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:-6.10, Z:-2.56 [[ 9.75336294e-01 2.20691672e-01 3.78146153e-03 1.02956044e+02] [-2.20690072e-01 9.75343624e-01 -8.40474524e-04 -6.10238662e+00] [-3.87371013e-03 -1.47857105e-05 9.99992497e-01 -2.55502137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:-6.11, Z:-2.56 [[ 9.77464898e-01 2.11059846e-01 4.01429496e-03 1.02987984e+02] [-2.11057959e-01 9.77473141e-01 -8.92978520e-04 -6.11179808e+00] [-4.11233741e-03 2.56062574e-05 9.99991544e-01 -2.55543397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.02, Y:-6.12, Z:-2.56 [[ 9.78390644e-01 2.06725385e-01 4.04521640e-03 1.03019295e+02] [-2.06723426e-01 9.78399005e-01 -9.00955786e-04 -6.12015598e+00] [-4.14408614e-03 4.52457162e-05 9.99991412e-01 -2.55573486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.05, Y:-6.13, Z:-2.56 [[ 9.79202830e-01 2.02837532e-01 4.33052340e-03 1.03051493e+02] [-2.02835246e-01 9.79212403e-01 -9.65389807e-04 -6.12829388e+00] [-4.43631951e-03 6.69296510e-05 9.99990157e-01 -2.55695507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:-6.14, Z:-2.56 [[ 9.79185732e-01 2.02920069e-01 4.32989288e-03 1.03084128e+02] [-2.02917771e-01 9.79195303e-01 -9.68205088e-04 -6.13574382e+00] [-4.43627902e-03 6.94403944e-05 9.99990157e-01 -2.55773921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.12, Y:-6.14, Z:-2.56 [[ 9.79884630e-01 1.99522663e-01 4.10116365e-03 1.03115769e+02] [-1.99520580e-01 9.79893209e-01 -9.15131409e-04 -6.14379320e+00] [-4.20129187e-03 7.84566509e-05 9.99991171e-01 -2.55898747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:-6.16, Z:-2.56 [[ 9.80805741e-01 1.94952131e-01 3.71006888e-03 1.03146301e+02] [-1.94950393e-01 9.80812754e-01 -8.28105829e-04 -6.15655545e+00] [-3.80032388e-03 8.89315652e-05 9.99992775e-01 -2.55933109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:-6.17, Z:-2.56 [[ 9.80949091e-01 1.94231141e-01 3.62555437e-03 1.03177262e+02] [-1.94229472e-01 9.80955787e-01 -8.10141117e-04 -6.16525665e+00] [-3.71386317e-03 9.05176806e-05 9.99993099e-01 -2.56021487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.21, Y:-6.17, Z:-2.56 [[ 9.80506030e-01 1.96464837e-01 3.08101563e-03 1.03209420e+02] [-1.96463644e-01 9.80510868e-01 -6.88192870e-04 -6.17266429e+00] [-3.15617501e-03 6.94697012e-05 9.99995017e-01 -2.56073156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.24, Y:-6.18, Z:-2.56 [[ 9.79946710e-01 1.99234735e-01 3.15688519e-03 1.03240882e+02] [-1.99233493e-01 9.79951793e-01 -7.06191144e-04 -6.17905379e+00] [-3.23429310e-03 6.30724245e-05 9.99994768e-01 -2.56156791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:-6.19, Z:-2.56 [[ 9.79192267e-01 2.02910421e-01 3.14083391e-03 1.03272644e+02] [-2.02909210e-01 9.79197303e-01 -7.02850759e-04 -6.18593512e+00] [-3.21811184e-03 5.09218997e-05 9.99994821e-01 -2.56209601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:-6.19, Z:-2.56 [[ 9.77334788e-01 2.11683841e-01 2.58123743e-03 1.03303713e+02] [-2.11683054e-01 9.77338197e-01 -5.77601883e-04 -6.19153055e+00] [-2.64501092e-03 1.81061935e-05 9.99996502e-01 -2.56194521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.33, Y:-6.20, Z:-2.56 [[ 9.76456414e-01 2.15703115e-01 2.24442276e-03 1.03334748e+02] [-2.15702527e-01 9.76458994e-01 -5.03476084e-04 -6.19831197e+00] [-2.30018815e-03 7.49478910e-06 9.99997355e-01 -2.56217465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:-6.21, Z:-2.56 [[ 9.75587854e-01 2.19589863e-01 2.93799604e-03 1.03365785e+02] [-2.19588873e-01 9.75592278e-01 -6.59145038e-04 -6.20605745e+00] [-3.01102782e-03 -2.09734773e-06 9.99995467e-01 -2.56192932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:103.40, Y:-6.21, Z:-2.56 [[ 9.74395194e-01 2.24810819e-01 3.75522861e-03 1.03399193e+02] [-2.24809235e-01 9.74402430e-01 -8.44162887e-04 -6.20942811e+00] [-3.84888083e-03 -2.16618121e-05 9.99992593e-01 -2.56290336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:-6.22, Z:-2.56 [[ 9.73953446e-01 2.26713067e-01 3.98384345e-03 1.03431435e+02] [-2.26711296e-01 9.73961593e-01 -8.96627466e-04 -6.21522142e+00] [-4.08338767e-03 -2.99089018e-05 9.99991662e-01 -2.56331511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:-6.22, Z:-2.56 [[ 9.73881059e-01 2.27005282e-01 4.92801766e-03 1.03464407e+02] [-2.27002565e-01 9.73893526e-01 -1.11112664e-03 -6.21906511e+00] [-5.05159612e-03 -3.65674573e-05 9.99987240e-01 -2.56484013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:-6.22, Z:-2.57 [[ 9.74053939e-01 2.26268297e-01 4.64564683e-03 1.03496503e+02] [-2.26265872e-01 9.74065017e-01 -1.04813426e-03 -6.22442292e+00] [-4.76232161e-03 -3.02120260e-05 9.99988660e-01 -2.56619417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:-6.23, Z:-2.57 [[ 9.74379782e-01 2.24864045e-01 4.49471669e-03 1.03528311e+02] [-2.24861755e-01 9.74390148e-01 -1.01507839e-03 -6.23050473e+00] [-4.60786230e-03 -2.16180172e-05 9.99989384e-01 -2.56769936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:-6.24, Z:-2.57 [[ 9.75377871e-01 2.20485213e-01 4.92754803e-03 1.03559853e+02] [-2.20482399e-01 9.75390317e-01 -1.11378320e-03 -6.24009135e+00] [-5.05185536e-03 -7.81317855e-08 9.99987239e-01 -2.56815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:-6.25, Z:-2.57 [[ 9.75979571e-01 2.17812931e-01 4.62649839e-03 1.03590607e+02] [-2.17810411e-01 9.75990536e-01 -1.04780957e-03 -6.24838496e+00] [-4.74364511e-03 1.49412173e-05 9.99988749e-01 -2.56806855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-6.26, Z:-2.57 [[ 9.76526631e-01 2.15362845e-01 3.81889841e-03 1.03621318e+02] [-2.15361114e-01 9.76534098e-01 -8.63811690e-04 -6.25555692e+00] [-3.91531746e-03 2.10929036e-05 9.99992335e-01 -2.56845563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:-6.26, Z:-2.57 [[ 9.77493798e-01 2.10953900e-01 2.08014019e-03 1.03653869e+02] [-2.10953377e-01 9.77496011e-01 -4.69840859e-04 -6.26173903e+00] [-2.13244350e-03 2.04539278e-05 9.99997726e-01 -2.57044568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:-6.27, Z:-2.57 [[ 9.77857359e-01 2.09263289e-01 1.96479507e-03 1.03685348e+02] [-2.09262819e-01 9.77859333e-01 -4.44160001e-04 -6.26928594e+00] [-2.01423958e-03 2.31665705e-05 9.99997971e-01 -2.57194007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:-6.28, Z:-2.57 [[ 9.78269472e-01 2.07305234e-01 3.65775612e-03 1.03716910e+02] [-2.07303585e-01 9.78276309e-01 -8.28557096e-04 -6.28030875e+00] [-3.75006038e-03 5.22861551e-05 9.99992967e-01 -2.57203189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:-6.29, Z:-2.57 [[ 9.78359025e-01 2.06849482e-01 5.18750699e-03 1.03747806e+02] [-2.06846136e-01 9.78372774e-01 -1.17936263e-03 -6.29046530e+00] [-5.31926615e-03 8.08242963e-05 9.99985849e-01 -2.57180481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:-6.30, Z:-2.57 [[ 9.78394662e-01 2.06664910e-01 5.78789117e-03 1.03779593e+02] [-2.06660742e-01 9.78411778e-01 -1.31559167e-03 -6.30037531e+00] [-5.93482752e-03 9.10379813e-05 9.99982385e-01 -2.57170638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:103.81, Y:-6.31, Z:-2.57 [[ 9.78366194e-01 2.06811783e-01 5.33628050e-03 1.03810756e+02] [-2.06808238e-01 9.78380743e-01 -1.21390048e-03 -6.30861879e+00] [-5.47196301e-03 8.40524261e-05 9.99985025e-01 -2.57244884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:-6.32, Z:-2.57 [[ 9.78143624e-01 2.07879459e-01 4.60235740e-03 1.03841321e+02] [-2.07876832e-01 9.78154449e-01 -1.04725008e-03 -6.31677122e+00] [-4.71951815e-03 6.76375070e-05 9.99988861e-01 -2.57369406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:-6.33, Z:-2.58 [[ 9.78011355e-01 2.08500053e-01 4.63874177e-03 1.03872800e+02] [-2.08497388e-01 9.78022353e-01 -1.05617227e-03 -6.32511498e+00] [-4.75700512e-03 6.57829281e-05 9.99988683e-01 -2.57507293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.90, Y:-6.34, Z:-2.58 [[ 9.77651318e-01 2.10215892e-01 2.67932123e-03 1.03902415e+02] [-2.10215013e-01 9.77654989e-01 -6.08907535e-04 -6.33759541e+00] [-2.74745381e-03 3.20657079e-05 9.99996225e-01 -2.57728821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:-6.35, Z:-2.58 [[ 9.77386552e-01 2.11451809e-01 1.91343299e-03 1.03933530e+02] [-2.11451365e-01 9.77388424e-01 -4.33710639e-04 -6.34951648e+00] [-1.96187615e-03 1.93049283e-05 9.99998075e-01 -2.57743221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.96, Y:-6.36, Z:-2.58 [[ 9.77029833e-01 2.13091921e-01 2.13057310e-03 1.03964924e+02] [-2.13091372e-01 9.77032155e-01 -4.83906166e-04 -6.36048171e+00] [-2.18475492e-03 1.87840146e-05 9.99997613e-01 -2.57823517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:-6.37, Z:-2.58 [[ 9.76042279e-01 2.17567480e-01 2.42113173e-03 1.03995783e+02] [-2.17566782e-01 9.76045282e-01 -5.51031469e-04 -6.37400844e+00] [-2.48302073e-03 1.10721707e-05 9.99996917e-01 -2.57699359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:-6.38, Z:-2.58 [[ 9.75294798e-01 2.20898384e-01 1.99016641e-03 1.04027281e+02] [-2.20897921e-01 9.75296829e-01 -4.52321324e-04 -6.38234431e+00] [-2.04092004e-03 1.52301330e-06 9.99997917e-01 -2.57810081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:-6.39, Z:-2.58 [[ 9.74497371e-01 2.24389947e-01 2.00647561e-03 1.04058420e+02] [-2.24389483e-01 9.74499436e-01 -4.56789681e-04 -6.39006117e+00] [-2.05780837e-03 -5.09168128e-06 9.99997883e-01 -2.57942904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:-6.40, Z:-2.58 [[ 9.73644589e-01 2.28063952e-01 1.74609451e-03 1.04089800e+02] [-2.28063606e-01 9.73646154e-01 -3.97370805e-04 -6.39802891e+00] [-1.79070416e-03 -1.13226758e-05 9.99998397e-01 -2.58060434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:-6.41, Z:-2.58 [[ 9.72153725e-01 2.34339524e-01 1.45711920e-03 1.04120307e+02] [-2.34339290e-01 9.72154817e-01 -3.31211447e-04 -6.40818851e+00] [-1.49416138e-03 -1.94718379e-05 9.99998884e-01 -2.58190604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:-6.42, Z:-2.58 [[ 9.71377516e-01 2.37538607e-01 1.06385319e-03 1.04151819e+02] [-2.37538486e-01 9.71378098e-01 -2.40710600e-04 -6.41712663e+00] [-1.09058175e-03 -1.88852110e-05 9.99999405e-01 -2.58246503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-6.43, Z:-2.58 [[ 9.70009876e-01 2.43062551e-01 1.19834281e-03 1.04183208e+02] [-2.43062400e-01 9.70010616e-01 -2.71882915e-04 -6.42561190e+00] [-1.22848980e-03 -2.75429677e-05 9.99999245e-01 -2.58318589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:-6.43, Z:-2.58 [[ 9.69330831e-01 2.45750828e-01 2.06679174e-03 1.04214120e+02] [-2.45750378e-01 9.69333033e-01 -4.72885786e-04 -6.43307237e+00] [-2.11962158e-03 -4.95320794e-05 9.99997752e-01 -2.58363333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:-6.44, Z:-2.58 [[ 9.68770062e-01 2.47942818e-01 2.98766096e-03 1.04245986e+02] [-2.47941881e-01 9.68774666e-01 -6.85664145e-04 -6.44124198e+00] [-3.06437575e-03 -7.65153828e-05 9.99995302e-01 -2.58346502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.28, Y:-6.45, Z:-2.58 [[ 9.67777681e-01 2.51791319e-01 2.73723257e-03 1.04278043e+02] [-2.51790548e-01 9.67781548e-01 -6.28370611e-04 -6.44950225e+00] [-2.80726144e-03 -8.10862361e-05 9.99996056e-01 -2.58254620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:-6.46, Z:-2.58 [[ 9.67357691e-01 2.53402832e-01 2.47024612e-03 1.04309108e+02] [-2.53402208e-01 9.67360842e-01 -5.67403093e-04 -6.45629439e+00] [-2.53340092e-03 -7.70840750e-05 9.99996788e-01 -2.58350070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-6.46, Z:-2.58 [[ 9.67043850e-01 2.54596427e-01 2.61755930e-03 1.04340936e+02] [-2.54595730e-01 9.67047389e-01 -6.01816897e-04 -6.46306333e+00] [-2.68452432e-03 -8.44360905e-05 9.99996393e-01 -2.58494413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:-6.47, Z:-2.59 [[ 9.66979277e-01 2.54846467e-01 2.08694280e-03 1.04372787e+02] [-2.54846025e-01 9.66981527e-01 -4.79595629e-04 -6.46865469e+00] [-2.14025839e-03 -6.80900404e-05 9.99997707e-01 -2.58712161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-6.48, Z:-2.59 [[ 9.67173728e-01 2.54109608e-01 1.81318044e-03 1.04404459e+02] [-2.54109273e-01 9.67175426e-01 -4.16499579e-04 -6.47555593e+00] [-1.85950011e-03 -5.79185131e-05 9.99998269e-01 -2.58852684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:-6.48, Z:-2.59 [[ 9.67593268e-01 2.52504684e-01 2.15701437e-03 1.04436565e+02] [-2.52504205e-01 9.67595670e-01 -4.96204491e-04 -6.48264372e+00] [-2.21241172e-03 -6.45310737e-05 9.99997551e-01 -2.58930961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:104.47, Y:-6.49, Z:-2.59 [[ 9.68847169e-01 2.47618034e-01 4.52464479e-03 1.04468890e+02] [-2.47615844e-01 9.68857728e-01 -1.04681058e-03 -6.49114980e+00] [-4.64294625e-03 -1.06174270e-04 9.99989216e-01 -2.59035522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:-6.50, Z:-2.59 [[ 9.69410577e-01 2.45404766e-01 4.43095631e-03 1.04499433e+02] [-2.45402638e-01 9.69420699e-01 -1.02618969e-03 -6.50043207e+00] [-4.54729261e-03 -9.25692241e-05 9.99989657e-01 -2.59033734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:-6.51, Z:-2.59 [[ 9.69948135e-01 2.43281564e-01 3.83351228e-03 1.04531279e+02] [-2.43279954e-01 9.69955708e-01 -8.87900729e-04 -6.50952240e+00] [-3.93434700e-03 -7.13990372e-05 9.99992258e-01 -2.59069741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:-6.52, Z:-2.59 [[ 9.70408917e-01 2.41444891e-01 3.30133757e-03 1.04563668e+02] [-2.41443687e-01 9.70414531e-01 -7.64465849e-04 -6.51777445e+00] [-3.38824232e-03 -5.52426391e-05 9.99994258e-01 -2.59087065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:-6.52, Z:-2.59 [[ 9.70981913e-01 2.39132609e-01 3.11763687e-03 1.04594606e+02] [-2.39131521e-01 9.70986917e-01 -7.22587528e-04 -6.52425846e+00] [-3.19997885e-03 -4.39058253e-05 9.99994879e-01 -2.59333007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:-6.53, Z:-2.60 [[ 9.71148613e-01 2.38465631e-01 2.12453559e-03 1.04627067e+02] [-2.38465127e-01 9.71150937e-01 -4.91296105e-04 -6.53149086e+00] [-2.18040197e-03 -2.95061172e-05 9.99997622e-01 -2.59513287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:-6.54, Z:-2.60 [[ 9.71185409e-01 2.38321003e-01 1.41442034e-03 1.04659360e+02] [-2.38320782e-01 9.71186439e-01 -3.25657199e-04 -6.53866716e+00] [-1.45127681e-03 -2.08122413e-05 9.99998947e-01 -2.59627630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:-6.54, Z:-2.60 [[ 9.70873810e-01 2.39573226e-01 2.95212085e-03 1.04690462e+02] [-2.39572248e-01 9.70878297e-01 -6.85736210e-04 -6.54466600e+00] [-3.03043410e-03 -4.14829006e-05 9.99995407e-01 -2.59692995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:-6.55, Z:-2.60 [[ 9.70499850e-01 2.41069500e-01 3.94167377e-03 1.04721752e+02] [-2.41067759e-01 9.70507853e-01 -9.18011155e-04 -6.55094126e+00] [-4.04672984e-03 -5.92807746e-05 9.99991810e-01 -2.59730121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:-6.56, Z:-2.60 [[ 9.69968113e-01 2.43209033e-01 3.35066473e-03 1.04754403e+02] [-2.43207789e-01 9.69973898e-01 -7.80042616e-04 -6.55715417e+00] [-3.43977074e-03 -5.82912961e-05 9.99994082e-01 -2.59751605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:-6.56, Z:-2.60 [[ 9.68849123e-01 2.47650587e-01 7.50815852e-04 1.04786839e+02] [-2.47650528e-01 9.68849414e-01 -1.71704420e-04 -6.55980716e+00] [-7.69950199e-04 -1.95842655e-05 9.99999703e-01 -2.59900643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-6.57, Z:-2.60 [[ 9.68386799e-01 2.49453389e-01 -1.19809597e-04 1.04818246e+02] [-2.49453387e-01 9.68386806e-01 3.23130130e-05 -6.56517917e+00] [ 1.24082623e-04 -1.40458547e-06 9.99999992e-01 -2.60026510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-6.57, Z:-2.60 [[ 9.68079694e-01 2.50642351e-01 -3.42016565e-04 1.04850861e+02] [-2.50642337e-01 9.68079755e-01 8.47082107e-05 -6.57133797e+00] [ 3.52330777e-04 3.71953224e-06 9.99999938e-01 -2.60049438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-6.58, Z:-2.60 [[ 9.68223800e-01 2.50081865e-01 1.31677005e-03 1.04883789e+02] [-2.50081682e-01 9.68224695e-01 -3.04857152e-04 -6.57571782e+00] [-1.35116853e-03 -3.41301195e-05 9.99999087e-01 -2.60023830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:-6.58, Z:-2.60 [[ 9.68763672e-01 2.47972012e-01 2.61337750e-03 1.04915335e+02] [-2.47971268e-01 9.68767195e-01 -6.10234534e-04 -6.58115405e+00] [-2.68307547e-03 -5.68694834e-05 9.99996399e-01 -2.60060697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:-6.59, Z:-2.60 [[ 9.71100283e-01 2.38651354e-01 3.12607498e-03 1.04947361e+02] [-2.38650236e-01 9.71105313e-01 -7.31466242e-04 -6.58570620e+00] [-3.21031343e-03 -3.57114586e-05 9.99994846e-01 -2.60296911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:-6.59, Z:-2.60 [[ 9.72448162e-01 2.33108242e-01 2.26261162e-03 1.04979905e+02] [-2.33107643e-01 9.72450794e-01 -5.28412992e-04 -6.59330926e+00] [-2.32345589e-03 -1.35778195e-05 9.99997301e-01 -2.60453964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:-6.60, Z:-2.61 [[ 9.73811291e-01 2.27349960e-01 1.88812374e-03 1.05012335e+02] [-2.27349529e-01 9.73813121e-01 -4.42805452e-04 -6.60070542e+00] [-1.93935147e-03 1.94490658e-06 9.99998119e-01 -2.60610105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:-6.61, Z:-2.61 [[ 9.75046499e-01 2.21986114e-01 2.54752934e-03 1.05044430e+02] [-2.21985314e-01 9.75049827e-01 -5.95858137e-04 -6.60860277e+00] [-2.61624028e-03 1.54752879e-05 9.99996578e-01 -2.60706798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:-6.62, Z:-2.61 [[ 9.77149487e-01 2.12532494e-01 2.96960953e-03 1.05075241e+02] [-2.12531355e-01 9.77153998e-01 -6.97579144e-04 -6.61878429e+00] [-3.05002406e-03 5.05039664e-05 9.99995347e-01 -2.60670118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:-6.63, Z:-2.61 [[ 9.77131185e-01 2.12616628e-01 2.96933866e-03 1.05107788e+02] [-2.12615487e-01 9.77135695e-01 -6.98727583e-04 -6.62660295e+00] [-3.05000790e-03 5.14211261e-05 9.99995347e-01 -2.60748488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:-6.64, Z:-2.61 [[ 9.77836052e-01 2.09359773e-01 2.26755916e-03 1.05138897e+02] [-2.09359104e-01 9.77838680e-01 -5.31207938e-04 -6.63513075e+00] [-2.32852063e-03 4.47001188e-05 9.99997288e-01 -2.60725134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:-6.64, Z:-2.61 [[ 9.78159492e-01 2.07845969e-01 2.01524539e-03 1.05170927e+02] [-2.07845438e-01 9.78161567e-01 -4.71830557e-04 -6.64305284e+00] [-2.06930366e-03 4.26659778e-05 9.99997858e-01 -2.60773321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:-6.65, Z:-2.61 [[ 9.77931316e-01 2.08912810e-01 2.40385768e-03 1.05202548e+02] [-2.08912054e-01 9.77934269e-01 -5.64010226e-04 -6.65054286e+00] [-2.46864377e-03 4.93684159e-05 9.99996952e-01 -2.60832019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.23, Y:-6.66, Z:-2.61 [[ 9.77440351e-01 2.11198317e-01 2.37312872e-03 1.05233765e+02] [-2.11197586e-01 9.77443231e-01 -5.57533068e-04 -6.65806368e+00] [-2.43734865e-03 4.37562616e-05 9.99997029e-01 -2.60892068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:-6.67, Z:-2.61 [[ 9.76024900e-01 2.17631755e-01 3.43705019e-03 1.05265013e+02] [-2.17630252e-01 9.76030951e-01 -8.09866608e-04 -6.66704490e+00] [-3.53092005e-03 4.24438771e-05 9.99993765e-01 -2.60884920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.30, Y:-6.67, Z:-2.61 [[ 9.75263735e-01 2.21001834e-01 4.34010980e-03 1.05296225e+02] [-2.20999460e-01 9.75273391e-01 -1.02509757e-03 -6.67359810e+00] [-4.45934205e-03 4.05785574e-05 9.99990056e-01 -2.60924172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:-6.68, Z:-2.61 [[ 9.74483977e-01 2.24395798e-01 5.24453184e-03 1.05327030e+02] [-2.24392370e-01 9.74498089e-01 -1.24075998e-03 -6.68050946e+00] [-5.38920758e-03 3.22677900e-05 9.99985478e-01 -2.61023182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:-6.69, Z:-2.61 [[ 9.73056536e-01 2.30519128e-01 4.68079679e-03 1.05359264e+02] [-2.30516467e-01 9.73067794e-01 -1.10760326e-03 -6.68698106e+00] [-4.81005634e-03 -1.24014508e-06 9.99988432e-01 -2.61168547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:-6.70, Z:-2.61 [[ 9.72489456e-01 2.32899064e-01 4.72057816e-03 1.05389612e+02] [-2.32896380e-01 9.72500913e-01 -1.11827953e-03 -6.69543418e+00] [-4.85121283e-03 -1.18905141e-05 9.99988233e-01 -2.61205291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:-6.70, Z:-2.61 [[ 9.72101076e-01 2.34503585e-01 5.25034517e-03 1.05421437e+02] [-2.34500281e-01 9.72115255e-01 -1.24500897e-03 -6.70362083e+00] [-5.39589970e-03 -2.09328585e-05 9.99985442e-01 -2.61236819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:-6.71, Z:-2.61 [[ 9.71735544e-01 2.36018311e-01 5.03874423e-03 1.05453568e+02] [-2.36015285e-01 9.71748607e-01 -1.19553025e-03 -6.71069649e+00] [-5.17855972e-03 -2.74814140e-05 9.99986591e-01 -2.61305208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:-6.72, Z:-2.62 [[ 9.71248976e-01 2.38035227e-01 3.82846227e-03 1.05484995e+02] [-2.38033495e-01 9.71256521e-01 -9.08302144e-04 -6.71715561e+00] [-3.93462686e-03 -2.91147294e-05 9.99992259e-01 -2.61501572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:-6.72, Z:-2.62 [[ 9.70977292e-01 2.39132375e-01 4.33652646e-03 1.05515732e+02] [-2.39130158e-01 9.70986975e-01 -1.03028720e-03 -6.72464048e+00] [-4.45708574e-03 -3.66087846e-05 9.99990066e-01 -2.61554728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:-6.73, Z:-2.62 [[ 9.70652434e-01 2.40429140e-01 5.26132597e-03 1.05547176e+02] [-2.40425886e-01 9.70666692e-01 -1.25199369e-03 -6.73068969e+00] [-5.40800963e-03 -4.97082302e-05 9.99985375e-01 -2.61603907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:-6.74, Z:-2.62 [[ 9.69935931e-01 2.43297453e-01 5.53533060e-03 1.05580007e+02] [-2.43293891e-01 9.69951723e-01 -1.31824199e-03 -6.73552745e+00] [-5.68972838e-03 -6.81018506e-05 9.99983811e-01 -2.61704977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:-6.74, Z:-2.62 [[ 9.69701006e-01 2.44241958e-01 5.08188510e-03 1.05611334e+02] [-2.44238964e-01 9.69714320e-01 -1.21115467e-03 -6.74385980e+00] [-5.22379154e-03 -6.67364559e-05 9.99986354e-01 -2.61692621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:-6.75, Z:-2.62 [[ 9.69979531e-01 2.43148963e-01 4.27677941e-03 1.05643290e+02] [-2.43146833e-01 9.69988958e-01 -1.01921560e-03 -6.75019545e+00] [-4.39625002e-03 -5.12671011e-05 9.99990335e-01 -2.61750097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:-6.75, Z:-2.62 [[ 9.70411669e-01 2.41432224e-01 3.41672820e-03 1.05675761e+02] [-2.41430855e-01 9.70417683e-01 -8.13889546e-04 -6.75495021e+00] [-3.51215263e-03 -3.50956990e-05 9.99993832e-01 -2.61952499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:-6.76, Z:-2.62 [[ 9.70893177e-01 2.39498303e-01 2.64615337e-03 1.05707551e+02] [-2.39497475e-01 9.70896783e-01 -6.30100790e-04 -6.76023183e+00] [-2.72004986e-03 -2.19864920e-05 9.99996300e-01 -2.62170331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:-6.77, Z:-2.62 [[ 9.71433750e-01 2.37298532e-01 2.42415058e-03 1.05739302e+02] [-2.37297831e-01 9.71436774e-01 -5.77112815e-04 -6.76691071e+00] [-2.49185705e-03 -1.46188085e-05 9.99996895e-01 -2.62349223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:-6.77, Z:-2.62 [[ 9.72430414e-01 2.33164365e-01 3.66996856e-03 1.05770510e+02] [-2.33162711e-01 9.72437339e-01 -8.78282348e-04 -6.77477902e+00] [-3.77359861e-03 -1.63135215e-06 9.99992880e-01 -2.62262925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:-6.78, Z:-2.62 [[ 9.72728273e-01 2.31885178e-01 5.38255606e-03 1.05802777e+02] [-2.31881596e-01 9.72743165e-01 -1.28893469e-03 -6.78238407e+00] [-5.53472946e-03 5.66752374e-06 9.99984683e-01 -2.62235906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:-6.79, Z:-2.62 [[ 9.73222508e-01 2.29724496e-01 8.03777587e-03 1.05834312e+02] [-2.29716404e-01 9.73255699e-01 -1.92840585e-03 -6.79091616e+00] [-8.26581323e-03 3.03590087e-05 9.99965837e-01 -2.62092199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:-6.80, Z:-2.62 [[ 9.73390502e-01 2.29009369e-01 8.10177258e-03 1.05865072e+02] [-2.29001107e-01 9.73424218e-01 -1.94568223e-03 -6.79923111e+00] [-8.33204110e-03 3.85937089e-05 9.99965287e-01 -2.62096256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.90, Y:-6.81, Z:-2.62 [[ 9.73534559e-01 2.28407966e-01 7.76290194e-03 1.05896997e+02] [-2.28400352e-01 9.73565508e-01 -1.86547909e-03 -6.80685105e+00] [-7.98378386e-03 4.30588226e-05 9.99968128e-01 -2.62177164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:-6.81, Z:-2.62 [[ 9.73717112e-01 2.27651221e-01 7.06451555e-03 1.05928618e+02] [-2.27644879e-01 9.73742738e-01 -1.69988407e-03 -6.81255852e+00] [-7.26600140e-03 4.70054227e-05 9.99973601e-01 -2.62336053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.96, Y:-6.82, Z:-2.63 [[ 9.73901127e-01 2.26874281e-01 6.68247380e-03 1.05961735e+02] [-2.26868593e-01 9.73924052e-01 -1.60729892e-03 -6.81661731e+00] [-6.87287675e-03 4.93068032e-05 9.99976380e-01 -2.62669679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:-6.82, Z:-2.63 [[ 9.73864949e-01 2.27031448e-01 6.61677523e-03 1.05992517e+02] [-2.27025864e-01 9.73887426e-01 -1.59306979e-03 -6.82453161e+00] [-6.80567114e-03 4.92557184e-05 9.99976840e-01 -2.62793942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.02, Y:-6.83, Z:-2.63 [[ 9.73875797e-01 2.27006088e-01 5.84534090e-03 1.06023960e+02] [-2.27001728e-01 9.73893338e-01 -1.40774911e-03 -6.83326692e+00] [-6.01230618e-03 4.40703018e-05 9.99981925e-01 -2.62829938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:-6.84, Z:-2.63 [[ 9.73885932e-01 2.26967757e-01 5.64163243e-03 1.06054794e+02] [-2.26963687e-01 9.73902272e-01 -1.35996345e-03 -6.84101932e+00] [-5.80306650e-03 4.40035711e-05 9.99983161e-01 -2.62908934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.09, Y:-6.85, Z:-2.63 [[ 9.74003454e-01 2.26470999e-01 5.30648077e-03 1.06085400e+02] [-2.26467380e-01 9.74017908e-01 -1.28114472e-03 -6.84920337e+00] [-5.45874942e-03 4.60945833e-05 9.99985100e-01 -2.62958592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.12, Y:-6.86, Z:-2.63 [[ 9.74321364e-01 2.25142387e-01 2.96410669e-03 1.06116265e+02] [-2.25141259e-01 9.74325872e-01 -7.13193935e-04 -6.86001434e+00] [-3.04857602e-03 2.75373768e-05 9.99995353e-01 -2.63044927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.15, Y:-6.87, Z:-2.63 [[ 9.74536480e-01 2.24217473e-01 2.27443062e-03 1.06147347e+02] [-2.24216807e-01 9.74539134e-01 -5.46920962e-04 -6.86771897e+00] [-2.33915088e-03 2.30288580e-05 9.99997264e-01 -2.63167104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.18, Y:-6.88, Z:-2.63 [[ 9.74753047e-01 2.23271071e-01 2.55462724e-03 1.06179305e+02] [-2.23270226e-01 9.74756394e-01 -6.15111660e-04 -6.87507511e+00] [-2.62747588e-03 2.92097639e-05 9.99996548e-01 -2.63320054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:-6.88, Z:-2.63 [[ 9.74994855e-01 2.22206721e-01 3.03419491e-03 1.06211334e+02] [-2.22205518e-01 9.74999575e-01 -7.32003129e-04 -6.88299207e+00] [-3.12099476e-03 3.94844319e-05 9.99995129e-01 -2.63445582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.24, Y:-6.89, Z:-2.64 [[ 9.75460779e-01 2.20157106e-01 2.66779400e-03 1.06243513e+02] [-2.20156169e-01 9.75464426e-01 -6.43604191e-04 -6.89170391e+00] [-2.74403218e-03 4.04793370e-05 9.99996234e-01 -2.63551734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:-6.90, Z:-2.64 [[ 9.75534886e-01 2.19809935e-01 3.90866373e-03 1.06274533e+02] [-2.19807908e-01 9.75542715e-01 -9.46163777e-04 -6.90021970e+00] [-4.02104462e-03 6.38605750e-05 9.99991914e-01 -2.63624126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:-6.91, Z:-2.64 [[ 9.75420071e-01 2.20282253e-01 5.60478441e-03 1.06306403e+02] [-2.20278077e-01 9.75436169e-01 -1.35946604e-03 -6.90988033e+00] [-5.76657568e-03 9.14393294e-05 9.99983369e-01 -2.63589056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.34, Y:-6.92, Z:-2.63 [[ 9.74619017e-01 2.23747331e-01 7.40973562e-03 1.06337791e+02] [-2.23740110e-01 9.74647178e-01 -1.80016627e-03 -6.92227422e+00] [-7.62466031e-03 9.66212105e-05 9.99970927e-01 -2.63415400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:106.37, Y:-6.93, Z:-2.63 [[ 9.73839859e-01 2.27116324e-01 7.35549772e-03 1.06368965e+02] [-2.27109292e-01 9.73867635e-01 -1.78868693e-03 -6.92993728e+00] [-7.56952117e-03 7.13927524e-05 9.99971348e-01 -2.63447543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.40, Y:-6.94, Z:-2.64 [[ 9.72893192e-01 2.31163986e-01 6.48450324e-03 1.06401074e+02] [-2.31158607e-01 9.72914801e-01 -1.57730264e-03 -6.93695087e+00] [-6.67348474e-03 3.55982679e-05 9.99977731e-01 -2.63552071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:-6.94, Z:-2.64 [[ 9.70817926e-01 2.39774224e-01 4.56902156e-03 1.06433009e+02] [-2.39771650e-01 9.70828677e-01 -1.11118750e-03 -6.93978977e+00] [-4.70217128e-03 -1.67610932e-05 9.99988945e-01 -2.63906351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.47, Y:-6.95, Z:-2.64 [[ 9.69961143e-01 2.43202501e-01 5.28442907e-03 1.06465679e+02] [-2.43199099e-01 9.69975537e-01 -1.28683626e-03 -6.94589250e+00] [-5.43872872e-03 -3.69872168e-05 9.99985209e-01 -2.64055738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:-6.95, Z:-2.64 [[ 9.69288075e-01 2.45840722e-01 6.55488394e-03 1.06498178e+02] [-2.45835533e-01 9.69310237e-01 -1.59856591e-03 -6.95314316e+00] [-6.74670870e-03 -6.19525156e-05 9.99977239e-01 -2.64124118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:-6.96, Z:-2.64 [[ 9.68453540e-01 2.49088563e-01 7.25450631e-03 1.06530311e+02] [-2.49082283e-01 9.68480707e-01 -1.77113186e-03 -6.96023095e+00] [-7.46701808e-03 -9.17100717e-05 9.99972117e-01 -2.64069340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.56, Y:-6.97, Z:-2.64 [[ 9.68177011e-01 2.50180193e-01 6.56854047e-03 1.06562932e+02] [-2.50175064e-01 9.68199289e-01 -1.60452423e-03 -6.96728975e+00] [-6.76107640e-03 -8.98215629e-05 9.99977140e-01 -2.64093288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.59, Y:-6.97, Z:-2.64 [[ 9.68246850e-01 2.49932119e-01 5.65444178e-03 1.06594791e+02] [-2.49928310e-01 9.68263358e-01 -1.38198231e-03 -6.97301669e+00] [-5.82039055e-03 -7.51050623e-05 9.99983059e-01 -2.64305631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.63, Y:-6.98, Z:-2.64 [[ 9.68536541e-01 2.48808705e-01 5.58533505e-03 1.06626342e+02] [-2.48804965e-01 9.68552644e-01 -1.36586136e-03 -6.98113860e+00] [-5.74952922e-03 -6.67724534e-05 9.99983469e-01 -2.64440683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:-6.99, Z:-2.65 [[ 9.68950096e-01 2.47205568e-01 5.01188034e-03 1.06657316e+02] [-2.47202531e-01 9.68963056e-01 -1.22640712e-03 -6.98922754e+00] [-5.15950156e-03 -5.06222080e-05 9.99986688e-01 -2.64573896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:-7.00, Z:-2.65 [[ 9.69436082e-01 2.45305204e-01 4.36353534e-03 1.06689150e+02] [-2.45302882e-01 9.69445901e-01 -1.06782206e-03 -6.99747481e+00] [-4.49215376e-03 -3.52025584e-05 9.99989910e-01 -2.64673624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.72, Y:-7.01, Z:-2.65 [[ 9.70256128e-01 2.42045912e-01 4.10157345e-03 1.06719980e+02] [-2.42043829e-01 9.70264797e-01 -1.00451003e-03 -7.00534374e+00] [-4.22274988e-03 -1.81285305e-05 9.99991084e-01 -2.64712444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.75, Y:-7.01, Z:-2.65 [[ 9.70469847e-01 2.41190882e-01 3.90316968e-03 1.06751020e+02] [-2.41188981e-01 9.70477696e-01 -9.57665561e-04 -7.01255066e+00] [-4.01891932e-03 -1.20159685e-05 9.99991924e-01 -2.64835029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:-7.02, Z:-2.65 [[ 9.70868759e-01 2.39585096e-01 3.58242699e-03 1.06782865e+02] [-2.39583489e-01 9.70875369e-01 -8.77708152e-04 -7.01898858e+00] [-3.68837592e-03 -6.15093195e-06 9.99993198e-01 -2.64944057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:-7.03, Z:-2.65 [[ 9.70940801e-01 2.39276078e-01 4.57368115e-03 1.06814434e+02] [-2.39273444e-01 9.70951574e-01 -1.12273790e-03 -7.02786292e+00] [-4.70946723e-03 -4.24840299e-06 9.99988910e-01 -2.65030168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.85, Y:-7.04, Z:-2.65 [[ 9.70925576e-01 2.39312494e-01 5.74939795e-03 1.06845473e+02] [-2.39308317e-01 9.70942599e-01 -1.41393974e-03 -7.03701058e+00] [-5.92070883e-03 -3.04848816e-06 9.99982472e-01 -2.65034476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:-7.05, Z:-2.65 [[ 9.70878605e-01 2.39484177e-01 6.48564275e-03 1.06877782e+02] [-2.39478855e-01 9.70900267e-01 -1.59662340e-03 -7.04532072e+00] [-6.67927832e-03 -3.04679924e-06 9.99977693e-01 -2.65097607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.91, Y:-7.05, Z:-2.65 [[ 9.70873199e-01 2.39506819e-01 6.45875804e-03 1.06909504e+02] [-2.39501531e-01 9.70894682e-01 -1.59148529e-03 -7.05055512e+00] [-6.65194541e-03 -1.75202831e-06 9.99977876e-01 -2.65225184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.94, Y:-7.06, Z:-2.65 [[ 9.70886523e-01 2.39453996e-01 6.41428100e-03 1.06941687e+02] [-2.39448772e-01 9.70907711e-01 -1.58156218e-03 -7.05768098e+00] [-6.60638627e-03 -3.74307413e-07 9.99978178e-01 -2.65316012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:-7.06, Z:-2.65 [[ 9.70875122e-01 2.39499565e-01 6.43867078e-03 1.06974358e+02] [-2.39494295e-01 9.70896472e-01 -1.58876414e-03 -7.06430780e+00] [-6.63179106e-03 4.66656553e-07 9.99978009e-01 -2.65386483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.01, Y:-7.07, Z:-2.65 [[ 9.70757249e-01 2.39997149e-01 5.63313744e-03 1.07007592e+02] [-2.39993121e-01 9.70773593e-01 -1.39049096e-03 -7.06812216e+00] [-5.80221494e-03 -2.08505552e-06 9.99983167e-01 -2.65477083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:-7.08, Z:-2.66 [[ 9.70760689e-01 2.39994613e-01 5.12540554e-03 1.07038797e+02] [-2.39991268e-01 9.70774220e-01 -1.26713264e-03 -7.07530010e+00] [-5.27971657e-03 2.99832308e-08 9.99986062e-01 -2.65513094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.07, Y:-7.08, Z:-2.65 [[ 9.70819471e-01 2.39768156e-01 4.55916129e-03 1.07070458e+02] [-2.39765512e-01 9.70830177e-01 -1.12599581e-03 -7.08290288e+00] [-4.69614930e-03 9.02088625e-09 9.99988973e-01 -2.65479161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.10, Y:-7.09, Z:-2.66 [[ 9.70799285e-01 2.39849888e-01 4.55846006e-03 1.07102918e+02] [-2.39847231e-01 9.70809987e-01 -1.12882379e-03 -7.09108931e+00] [-4.69614681e-03 2.52730192e-06 9.99988973e-01 -2.65557571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.13, Y:-7.10, Z:-2.66 [[ 9.70934124e-01 2.39299569e-01 4.75837904e-03 1.07133985e+02] [-2.39296675e-01 9.70945784e-01 -1.17703870e-03 -7.09789712e+00] [-4.90179292e-03 4.16275591e-06 9.99987986e-01 -2.65586968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:-7.10, Z:-2.66 [[ 9.71851453e-01 2.35489207e-01 7.04181286e-03 1.07165196e+02] [-2.35482735e-01 9.71876963e-01 -1.74627703e-03 -7.10328758e+00] [-7.25500509e-03 3.88965230e-05 9.99973681e-01 -2.65617674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.20, Y:-7.11, Z:-2.66 [[ 9.72460934e-01 2.32942948e-01 7.57063323e-03 1.07196043e+02] [-2.32935389e-01 9.72490400e-01 -1.87765005e-03 -7.10966766e+00] [-7.79975348e-03 6.24729238e-05 9.99969580e-01 -2.65663537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.23, Y:-7.12, Z:-2.66 [[ 9.73071325e-01 2.30386037e-01 7.38036150e-03 1.07228288e+02] [-2.30378771e-01 9.73099310e-01 -1.83152447e-03 -7.11642725e+00] [-7.60378235e-03 8.19253275e-05 9.99971087e-01 -2.65788550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:-7.12, Z:-2.66 [[ 9.73623444e-01 2.28064391e-01 6.63504696e-03 1.07259492e+02] [-2.28058457e-01 9.73646047e-01 -1.64766223e-03 -7.12427381e+00] [-6.83596033e-03 9.10240012e-05 9.99976630e-01 -2.65919499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:-7.13, Z:-2.66 [[ 9.74600284e-01 2.23886011e-01 5.41676562e-03 1.07290867e+02] [-2.23881992e-01 9.74615331e-01 -1.34508891e-03 -7.13464550e+00] [-5.58040941e-03 9.82077532e-05 9.99984425e-01 -2.66130479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.32, Y:-7.14, Z:-2.66 [[ 9.74991587e-01 2.22185648e-01 4.99440003e-03 1.07321205e+02] [-2.22182198e-01 9.75004373e-01 -1.24223548e-03 -7.14331431e+00] [-5.14556877e-03 1.01502360e-04 9.99986756e-01 -2.66252884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.35, Y:-7.15, Z:-2.66 [[ 9.75290812e-01 2.20880748e-01 4.41891091e-03 1.07352765e+02] [-2.20878040e-01 9.75300818e-01 -1.09797999e-03 -7.15155355e+00] [-4.55229007e-03 9.48094181e-05 9.99989634e-01 -2.66339788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:107.38, Y:-7.16, Z:-2.66 [[ 9.75484243e-01 2.20024022e-01 4.46335751e-03 1.07384447e+02] [-2.20021246e-01 9.75494449e-01 -1.10975936e-03 -7.15934743e+00] [-4.59815419e-03 1.00519291e-04 9.99989423e-01 -2.66401383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.42, Y:-7.17, Z:-2.66 [[ 9.75387154e-01 2.20450486e-01 4.63502078e-03 1.07415163e+02] [-2.20447490e-01 9.75398161e-01 -1.15387594e-03 -7.16725272e+00] [-4.77536325e-03 1.03697067e-04 9.99988593e-01 -2.66418490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.45, Y:-7.17, Z:-2.67 [[ 9.75199727e-01 2.21292424e-01 3.89309512e-03 1.07447526e+02] [-2.21290317e-01 9.75207494e-01 -9.69140990e-04 -7.17496872e+00] [-4.01103910e-03 8.36017746e-05 9.99991952e-01 -2.66528406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.48, Y:-7.19, Z:-2.67 [[ 9.74806401e-01 2.23043168e-01 2.05542867e-03 1.07478855e+02] [-2.23042589e-01 9.74808568e-01 -5.09870086e-04 -7.18723597e+00] [-2.11737252e-03 3.85764917e-05 9.99997758e-01 -2.66528226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.51, Y:-7.20, Z:-2.67 [[ 9.74505012e-01 2.24358305e-01 1.82562811e-03 1.07509681e+02] [-2.24357850e-01 9.74506721e-01 -4.53010803e-04 -7.19632722e+00] [-1.88072360e-03 3.18672989e-05 9.99998231e-01 -2.66575958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.54, Y:-7.20, Z:-2.67 [[ 9.74117150e-01 2.26038633e-01 1.52135647e-03 1.07541616e+02] [-2.26038320e-01 9.74118338e-01 -3.76571872e-04 -7.20383371e+00] [-1.56710103e-03 2.29402579e-05 9.99998772e-01 -2.66640624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.57, Y:-7.21, Z:-2.67 [[ 9.73144840e-01 2.30181396e-01 2.37599701e-03 1.07573409e+02] [-2.30180637e-01 9.73147740e-01 -5.91660686e-04 -7.20764843e+00] [-2.44838541e-03 2.88630383e-05 9.99997002e-01 -2.66738599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.61, Y:-7.21, Z:-2.67 [[ 9.72599278e-01 2.32470051e-01 2.88445947e-03 1.07605380e+02] [-2.32468939e-01 9.72603555e-01 -7.19615998e-04 -7.21395766e+00] [-2.97272470e-03 2.93507689e-05 9.99995581e-01 -2.66808929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:-7.22, Z:-2.67 [[ 9.72135711e-01 2.34395050e-01 3.33467405e-03 1.07636888e+02] [-2.34393569e-01 9.72141430e-01 -8.33677527e-04 -7.22098772e+00] [-3.43718469e-03 2.88215425e-05 9.99994092e-01 -2.66910187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.67, Y:-7.23, Z:-2.67 [[ 9.71476534e-01 2.37111976e-01 3.35484276e-03 1.07668642e+02] [-2.37110492e-01 9.71482326e-01 -8.39284429e-04 -7.23013544e+00] [-3.45817484e-03 1.98767118e-05 9.99994020e-01 -2.66851226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.70, Y:-7.24, Z:-2.67 [[ 9.71098892e-01 2.38648925e-01 3.69227270e-03 1.07701080e+02] [-2.38647134e-01 9.71105911e-01 -9.24809915e-04 -7.23754496e+00] [-3.80629273e-03 1.69315873e-05 9.99992756e-01 -2.66876100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:-7.24, Z:-2.67 [[ 9.70673380e-01 2.40360252e-01 4.48753961e-03 1.07732794e+02] [-2.40357614e-01 9.70683753e-01 -1.12621818e-03 -7.24379556e+00] [-4.62667988e-03 1.45756958e-05 9.99989297e-01 -2.66930590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:-7.25, Z:-2.67 [[ 9.69569418e-01 2.44731093e-01 6.46801805e-03 1.07763998e+02] [-2.44725688e-01 9.69590992e-01 -1.62652193e-03 -7.24943845e+00] [-6.66939253e-03 -5.86424910e-06 9.99977759e-01 -2.66996940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:-7.26, Z:-2.67 [[ 9.68970429e-01 2.47102939e-01 6.03704745e-03 1.07795834e+02] [-2.47098272e-01 9.68989235e-01 -1.51881513e-03 -7.25670008e+00] [-6.22513767e-03 -2.00570474e-05 9.99980623e-01 -2.67059180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:-7.26, Z:-2.67 [[ 9.68432536e-01 2.49214834e-01 5.51269554e-03 1.07828196e+02] [-2.49210973e-01 9.68448225e-01 -1.38760099e-03 -7.26337255e+00] [-5.68457096e-03 -3.00262714e-05 9.99983842e-01 -2.67154556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:-7.27, Z:-2.67 [[ 9.67834733e-01 2.51539547e-01 4.87718803e-03 1.07860106e+02] [-2.51536545e-01 9.67847020e-01 -1.22946112e-03 -7.26695744e+00] [-5.02962999e-03 -3.68758555e-05 9.99987351e-01 -2.67400735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.89, Y:-7.27, Z:-2.68 [[ 9.67722489e-01 2.51988783e-01 3.85204444e-03 1.07892148e+02] [-2.51986920e-01 9.67730155e-01 -9.69460938e-04 -7.27327323e+00] [-3.97203284e-03 -3.24956635e-05 9.99992111e-01 -2.67512260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:-7.28, Z:-2.68 [[ 9.67927574e-01 2.51217377e-01 2.45784515e-03 1.07923812e+02] [-2.51216615e-01 9.67930694e-01 -6.18963142e-04 -7.27822363e+00] [-2.53451806e-03 -1.83400458e-05 9.99996788e-01 -2.67676400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.96, Y:-7.29, Z:-2.68 [[ 9.68220142e-01 2.50091481e-01 2.00167581e-03 1.07956022e+02] [-2.50090978e-01 9.68222211e-01 -5.02185647e-04 -7.28607217e+00] [-2.06365933e-03 -1.43748009e-05 9.99997871e-01 -2.67779023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:-7.29, Z:-2.68 [[ 9.68587387e-01 2.48668746e-01 1.52588915e-03 1.07986668e+02] [-2.48668453e-01 9.68588589e-01 -3.82304440e-04 -7.29423502e+00] [-1.57302598e-03 -9.14523405e-06 9.99998763e-01 -2.67841190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:-7.30, Z:-2.68 [[ 9.68935062e-01 2.47312554e-01 1.16003519e-03 1.08018058e+02] [-2.47312384e-01 9.68935757e-01 -2.89514492e-04 -7.30272015e+00] [-1.19560014e-03 -6.37032638e-06 9.99999285e-01 -2.67856318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.05, Y:-7.31, Z:-2.68 [[ 9.69310028e-01 2.45832679e-01 2.08916288e-03 1.08048803e+02] [-2.45832116e-01 9.69312279e-01 -5.25872794e-04 -7.31109106e+00] [-2.15432795e-03 -3.84955909e-06 9.99997679e-01 -2.67762283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:-7.32, Z:-2.68 [[ 9.69359080e-01 2.45640238e-01 1.96142358e-03 1.08081052e+02] [-2.45639742e-01 9.69361065e-01 -4.93618099e-04 -7.31848637e+00] [-2.02258012e-03 -3.31039576e-06 9.99997955e-01 -2.67807968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.11, Y:-7.32, Z:-2.68 [[ 9.69400739e-01 2.45477927e-01 1.67146487e-03 1.08112619e+02] [-2.45477565e-01 9.69402180e-01 -4.21908824e-04 -7.32481826e+00] [-1.72389099e-03 -1.30839898e-06 9.99998514e-01 -2.67918154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.14, Y:-7.33, Z:-2.68 [[ 9.69339960e-01 2.45708593e-01 2.70735036e-03 1.08144197e+02] [-2.45707637e-01 9.69343741e-01 -6.85537453e-04 -7.32964599e+00] [-2.79279557e-03 -6.97810815e-07 9.99996100e-01 -2.68043850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.18, Y:-7.34, Z:-2.68 [[ 9.69317985e-01 2.45783730e-01 3.60569196e-03 1.08176154e+02] [-2.45782035e-01 9.69324692e-01 -9.12953328e-04 -7.33727006e+00] [-3.71947532e-03 -1.27222618e-06 9.99993083e-01 -2.68095901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.21, Y:-7.34, Z:-2.68 [[ 9.69424574e-01 2.45341312e-01 4.86164077e-03 1.08209155e+02] [-2.45338211e-01 9.69436765e-01 -1.23349856e-03 -7.34315687e+00] [-5.01568145e-03 3.03756465e-06 9.99987421e-01 -2.68136815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:-7.35, Z:-2.68 [[ 9.69572154e-01 2.44764271e-01 4.50439383e-03 1.08241493e+02] [-2.44761600e-01 9.69582617e-01 -1.14340817e-03 -7.34955573e+00] [-4.64724743e-03 6.11407892e-06 9.99989201e-01 -2.68296450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.27, Y:-7.36, Z:-2.68 [[ 9.69868093e-01 2.43600665e-01 3.82073911e-03 1.08273559e+02] [-2.43598726e-01 9.69875619e-01 -9.72101262e-04 -7.35727957e+00] [-3.94244622e-03 1.20828201e-05 9.99992228e-01 -2.68433583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:-7.37, Z:-2.69 [[ 9.70207683e-01 2.42255020e-01 3.09159774e-03 1.08305368e+02] [-2.42253751e-01 9.70212608e-01 -7.84204268e-04 -7.36651071e+00] [-3.18948453e-03 1.18898568e-05 9.99994914e-01 -2.68532949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.34, Y:-7.37, Z:-2.69 [[ 9.70949728e-01 2.39261352e-01 3.26068992e-03 1.08335808e+02] [-2.39259919e-01 9.70955202e-01 -8.28290033e-04 -7.37487388e+00] [-3.36416164e-03 2.40755736e-05 9.99994341e-01 -2.68521675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.37, Y:-7.38, Z:-2.69 [[ 9.71311609e-01 2.37774064e-01 4.15373149e-03 1.08366832e+02] [-2.37771717e-01 9.71320489e-01 -1.05716696e-03 -7.38183442e+00] [-4.28597139e-03 3.91986767e-05 9.99990814e-01 -2.68611117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:-7.39, Z:-2.69 [[ 9.72261923e-01 2.33845490e-01 4.80002421e-03 1.08397310e+02] [-2.33842300e-01 9.72273769e-01 -1.22336978e-03 -7.39252334e+00] [-4.95301714e-03 6.69871533e-05 9.99987731e-01 -2.68660496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.43, Y:-7.40, Z:-2.69 [[ 9.72662549e-01 2.32181533e-01 4.39326002e-03 1.08428798e+02] [-2.32178843e-01 9.72672468e-01 -1.11982123e-03 -7.40318035e+00] [-4.53320487e-03 6.91861406e-05 9.99989723e-01 -2.68675185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.46, Y:-7.41, Z:-2.69 [[ 9.73000208e-01 2.30765192e-01 4.24522447e-03 1.08460072e+02] [-2.30762663e-01 9.73009466e-01 -1.08273019e-03 -7.41265609e+00] [-4.38050003e-03 7.38573960e-05 9.99990403e-01 -2.68794836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:-7.42, Z:-2.69 [[ 9.73704342e-01 2.27776454e-01 4.21209465e-03 1.08490351e+02] [-2.27773932e-01 9.73713448e-01 -1.07536445e-03 -7.42143111e+00] [-4.34631591e-03 8.76816740e-05 9.99990551e-01 -2.68981634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.52, Y:-7.43, Z:-2.69 [[ 9.73911563e-01 2.26890443e-01 4.12237952e-03 1.08521967e+02] [-2.26888018e-01 9.73920284e-01 -1.05286551e-03 -7.43053601e+00] [-4.25375416e-03 9.00793715e-05 9.99990949e-01 -2.68992134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.55, Y:-7.44, Z:-2.69 [[ 9.73789379e-01 2.27416817e-01 3.97949067e-03 1.08552980e+02] [-2.27414558e-01 9.73797507e-01 -1.01730884e-03 -7.43867732e+00] [-4.10657123e-03 8.56504301e-05 9.99991564e-01 -2.69043855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:-7.45, Z:-2.69 [[ 9.73534207e-01 2.28512927e-01 3.60423094e-03 1.08584978e+02] [-2.28511081e-01 9.73540876e-01 -9.21463619e-04 -7.44807832e+00] [-3.71943249e-03 7.34696460e-05 9.99993080e-01 -2.69150177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.62, Y:-7.46, Z:-2.69 [[ 9.73267973e-01 2.29638974e-01 3.92365403e-03 1.08616658e+02] [-2.29636791e-01 9.73275879e-01 -1.00434263e-03 -7.45886275e+00] [-4.04943403e-03 7.64792003e-05 9.99991798e-01 -2.69247891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:-7.47, Z:-2.69 [[ 9.72939196e-01 2.31011845e-01 4.77999313e-03 1.08647119e+02] [-2.31008609e-01 9.72950934e-01 -1.22581277e-03 -7.47002576e+00] [-4.93387605e-03 8.84217293e-05 9.99987824e-01 -2.69215103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:-7.48, Z:-2.69 [[ 9.72273334e-01 2.33767392e-01 6.11318960e-03 1.08678104e+02] [-2.33762141e-01 9.72292547e-01 -1.56987374e-03 -7.48273376e+00] [-6.31079398e-03 9.73140901e-05 9.99980082e-01 -2.69140956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.71, Y:-7.49, Z:-2.69 [[ 9.71922283e-01 2.35234908e-01 5.62261443e-03 1.08709110e+02] [-2.35230484e-01 9.71938543e-01 -1.44492192e-03 -7.49155636e+00] [-5.80473176e-03 8.17414938e-05 9.99983149e-01 -2.69217253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:-7.50, Z:-2.69 [[ 9.71199855e-01 2.38214544e-01 4.96720238e-03 1.08741180e+02] [-2.38211129e-01 9.71212556e-01 -1.27675669e-03 -7.49962015e+00] [-5.12835133e-03 5.67430237e-05 9.99986848e-01 -2.69447874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:-7.51, Z:-2.70 [[ 9.70804306e-01 2.39813361e-01 5.34326348e-03 1.08772157e+02] [-2.39809425e-01 9.70819009e-01 -1.37506065e-03 -7.50939144e+00] [-5.51709967e-03 5.35498586e-05 9.99984779e-01 -2.69621927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.80, Y:-7.52, Z:-2.70 [[ 9.70410689e-01 2.41405754e-01 5.13389149e-03 1.08802628e+02] [-2.41402138e-01 9.70424268e-01 -1.32199476e-03 -7.52057478e+00] [-5.30119003e-03 4.35454640e-05 9.99985948e-01 -2.69643160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:-7.54, Z:-2.70 [[ 9.69462660e-01 2.45204153e-01 4.13203684e-03 1.08832932e+02] [-2.45201846e-01 9.69471466e-01 -1.06375485e-03 -7.53503058e+00] [-4.26672892e-03 1.80875444e-05 9.99990897e-01 -2.69680035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:-7.55, Z:-2.70 [[ 9.68854029e-01 2.47606624e-01 3.58187420e-03 1.08863144e+02] [-2.47604906e-01 9.68860650e-01 -9.22503122e-04 -7.54507228e+00] [-3.69875485e-03 6.88124161e-06 9.99993160e-01 -2.69792656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:-7.56, Z:-2.70 [[ 9.68168464e-01 2.50279364e-01 3.17268075e-03 1.08894883e+02] [-2.50278031e-01 9.68173662e-01 -8.16990867e-04 -7.55504772e+00] [-3.27618189e-03 -3.06749868e-06 9.99994633e-01 -2.69923911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:-7.57, Z:-2.70 [[ 9.66708850e-01 2.55860058e-01 3.10306451e-03 1.08925950e+02] [-2.55858811e-01 9.66713831e-01 -7.99236251e-04 -7.56510734e+00] [-3.20426801e-03 -2.13176379e-05 9.99994866e-01 -2.70010402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:-7.57, Z:-2.70 [[ 9.65921447e-01 2.58811466e-01 3.51894734e-03 1.08956693e+02] [-2.58809871e-01 9.65927856e-01 -9.09294378e-04 -7.57451593e+00] [-3.63438508e-03 -3.24313666e-05 9.99993395e-01 -2.70096751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.99, Y:-7.59, Z:-2.70 [[ 9.65102911e-01 2.61846946e-01 3.54230207e-03 1.08988277e+02] [-2.61845352e-01 9.65109411e-01 -9.14659060e-04 -7.58565386e+00] [-3.65820975e-03 -4.47952129e-05 9.99993308e-01 -2.70166943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:-7.60, Z:-2.70 [[ 9.63452889e-01 2.67862650e-01 2.85165913e-03 1.09019162e+02] [-2.67861645e-01 9.63457107e-01 -7.35769133e-04 -7.59918386e+00] [-2.94453633e-03 -5.49712077e-05 9.99995663e-01 -2.70189524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:-7.61, Z:-2.70 [[ 9.62462038e-01 2.71397353e-01 3.20971234e-03 1.09049435e+02] [-2.71396094e-01 9.62467387e-01 -8.29677743e-04 -7.60809637e+00] [-3.31441580e-03 -7.25700628e-05 9.99994505e-01 -2.70262970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.08, Y:-7.62, Z:-2.70 [[ 9.60473353e-01 2.78357291e-01 2.85590303e-03 1.09081165e+02] [-2.78356326e-01 9.60477595e-01 -7.38161570e-04 -7.61546596e+00] [-2.94850353e-03 -8.59741568e-05 9.99995649e-01 -2.70395618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.11, Y:-7.62, Z:-2.70 [[ 9.60450880e-01 2.78434829e-01 2.85522992e-03 1.09113531e+02] [-2.78433856e-01 9.60455121e-01 -7.40750400e-04 -7.62401741e+00] [-2.94857091e-03 -8.35383028e-05 9.99995649e-01 -2.70474028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:-7.63, Z:-2.71 [[ 9.59480421e-01 2.81765884e-01 2.30382661e-03 1.09144628e+02] [-2.81765266e-01 9.59483184e-01 -5.95544737e-04 -7.63063445e+00] [-2.37828708e-03 -7.77248029e-05 9.99997169e-01 -2.70659950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.18, Y:-7.64, Z:-2.71 [[ 9.58711535e-01 2.84373834e-01 1.92750512e-03 1.09176372e+02] [-2.84373407e-01 9.58713470e-01 -4.98106569e-04 -7.63709569e+00] [-1.98957360e-03 -7.05906857e-05 9.99998018e-01 -2.70806871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:-7.64, Z:-2.71 [[ 9.58067549e-01 2.86534943e-01 2.07330845e-03 1.09208891e+02] [-2.86534453e-01 9.58069789e-01 -5.36099616e-04 -7.64488287e+00] [-2.13998546e-03 -8.04546575e-05 9.99997707e-01 -2.70895923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.24, Y:-7.65, Z:-2.71 [[ 9.57584283e-01 2.88133198e-01 3.40595497e-03 1.09240022e+02] [-2.88131873e-01 9.57590331e-01 -8.84384731e-04 -7.65430159e+00] [-3.51633015e-03 -1.34491264e-04 9.99993809e-01 -2.70806466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.27, Y:-7.66, Z:-2.71 [[ 9.57835148e-01 2.87290256e-01 4.01727214e-03 1.09272102e+02] [-2.87288399e-01 9.57843560e-01 -1.04425220e-03 -7.66335932e+00] [-4.14792173e-03 -1.53894218e-04 9.99991385e-01 -2.70796058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.30, Y:-7.67, Z:-2.71 [[ 9.59312185e-01 2.82315793e-01 4.23383073e-03 1.09304406e+02] [-2.82313678e-01 9.59321518e-01 -1.10155347e-03 -7.66831906e+00] [-4.37259086e-03 -1.38534657e-04 9.99990431e-01 -2.70955872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.34, Y:-7.68, Z:-2.71 [[ 9.60380345e-01 2.78672942e-01 3.31438917e-03 1.09336273e+02] [-2.78671625e-01 9.60386059e-01 -8.62018272e-04 -7.67513588e+00] [-3.42331432e-03 -9.57608125e-05 9.99994136e-01 -2.71096864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:-7.68, Z:-2.71 [[ 9.61611637e-01 2.74402873e-01 2.47439978e-03 1.09368460e+02] [-2.74402127e-01 9.61614819e-01 -6.42727775e-04 -7.68295520e+00] [-2.55578584e-03 -6.09260546e-05 9.99996732e-01 -2.71295903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:-7.69, Z:-2.71 [[ 9.64079083e-01 2.65613624e-01 9.61597756e-04 1.09398630e+02] [-2.65613510e-01 9.64079562e-01 -2.47115354e-04 -7.69206523e+00] [-9.92693948e-04 -1.71746110e-05 9.99999507e-01 -2.71490675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.43, Y:-7.70, Z:-2.72 [[ 9.65265547e-01 2.61270479e-01 4.01438207e-04 1.09430185e+02] [-2.61270460e-01 9.65265630e-01 -1.00630517e-04 -7.70102255e+00] [-4.13786287e-04 -7.74877363e-06 9.99999914e-01 -2.71548063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:-7.71, Z:-2.72 [[ 9.66318943e-01 2.57347382e-01 -1.59218446e-04 1.09461198e+02] [-2.57347378e-01 9.66318956e-01 4.45986372e-05 -7.70932503e+00] [ 1.65333145e-04 -2.12205830e-06 9.99999986e-01 -2.71595803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:-7.72, Z:-2.72 [[ 9.68105354e-01 2.50542959e-01 -4.98251322e-04 1.09493528e+02] [-2.50542923e-01 9.68105483e-01 1.33958666e-04 -7.71695479e+00] [ 5.15922237e-04 -4.85275936e-06 9.99999867e-01 -2.71675549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:-7.73, Z:-2.72 [[ 9.68714610e-01 2.48176934e-01 -4.62549552e-04 1.09525066e+02] [-2.48176902e-01 9.68714720e-01 1.26213495e-04 -7.72622579e+00] [ 4.79401838e-04 -7.47074150e-06 9.99999885e-01 -2.71750736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.56, Y:-7.74, Z:-2.72 [[ 9.69232356e-01 2.46147600e-01 7.78487094e-07 1.09555805e+02] [-2.46147600e-01 9.69232356e-01 4.23820885e-06 -7.73567249e+00] [ 2.88689904e-07 -4.29943188e-06 1.00000000e+00 -2.71816529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.59, Y:-7.74, Z:-2.72 [[ 9.70228474e-01 2.42181405e-01 2.20815814e-03 1.09587841e+02] [-2.42180721e-01 9.70230986e-01 -5.76026717e-04 -7.74477767e+00] [-2.28192641e-03 2.41041901e-05 9.99997396e-01 -2.71787505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:-7.75, Z:-2.72 [[ 9.70501916e-01 2.41072625e-01 3.16547772e-03 1.09620069e+02] [-2.41071205e-01 9.70507078e-01 -8.28253229e-04 -7.75327515e+00] [-3.27178771e-03 4.07158162e-05 9.99994647e-01 -2.71836675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.65, Y:-7.76, Z:-2.72 [[ 9.70802265e-01 2.39865939e-01 2.70063165e-03 1.09651829e+02] [-2.39864902e-01 9.70806021e-01 -7.06516822e-04 -7.76154049e+00] [-2.79125879e-03 3.81013851e-05 9.99996104e-01 -2.71966597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.68, Y:-7.77, Z:-2.72 [[ 9.70756530e-01 2.40054599e-01 2.35566842e-03 1.09682721e+02] [-2.40053810e-01 9.70759387e-01 -6.16432189e-04 -7.77100322e+00] [-2.43476462e-03 3.29183920e-05 9.99997035e-01 -2.72029691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:109.71, Y:-7.78, Z:-2.72 [[ 9.70568051e-01 2.40813755e-01 2.52856293e-03 1.09713753e+02] [-2.40812843e-01 9.70571344e-01 -6.63819938e-04 -7.78029279e+00] [-2.61400770e-03 3.53719961e-05 9.99996583e-01 -2.71972426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.75, Y:-7.79, Z:-2.72 [[ 9.70123642e-01 2.42594078e-01 2.86912955e-03 1.09745268e+02] [-2.42592914e-01 9.70127884e-01 -7.52485556e-04 -7.78971201e+00] [-2.96597112e-03 3.39735304e-05 9.99995601e-01 -2.71980312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:-7.79, Z:-2.72 [[ 9.68662797e-01 2.48355349e-01 3.46491410e-03 1.09777205e+02] [-2.48353680e-01 9.68668994e-01 -9.10691389e-04 -7.79346506e+00] [-3.58252994e-03 2.16286983e-05 9.99993582e-01 -2.71972070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:-7.80, Z:-2.72 [[ 9.67794335e-01 2.51708666e-01 4.10767952e-03 1.09809923e+02] [-2.51706345e-01 9.67803052e-01 -1.08105053e-03 -7.79879874e+00] [-4.24753456e-03 1.23055818e-05 9.99990979e-01 -2.72053937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.84, Y:-7.80, Z:-2.72 [[ 9.66195742e-01 2.57741919e-01 5.90692184e-03 1.09842042e+02] [-2.57737212e-01 9.66213798e-01 -1.55773260e-03 -7.80471322e+00] [-6.10884238e-03 -1.73589615e-05 9.99981341e-01 -2.72193146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:-7.81, Z:-2.72 [[ 9.65650865e-01 2.59770118e-01 6.15578719e-03 1.09873498e+02] [-2.59765037e-01 9.65670485e-01 -1.62504288e-03 -7.81233567e+00] [-6.36659958e-03 -2.98342258e-05 9.99979733e-01 -2.72241965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.91, Y:-7.82, Z:-2.72 [[ 9.65259105e-01 2.61217346e-01 6.35287125e-03 1.09905470e+02] [-2.61211959e-01 9.65280009e-01 -1.67808647e-03 -7.81967873e+00] [-6.57064492e-03 -3.96577072e-05 9.99978412e-01 -2.72300135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:-7.83, Z:-2.72 [[ 9.64797968e-01 2.62912287e-01 6.48149210e-03 1.09937345e+02] [-2.62906700e-01 9.64819738e-01 -1.71475276e-03 -7.82574791e+00] [-6.70430108e-03 -4.96377190e-05 9.99977525e-01 -2.72413024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.97, Y:-7.83, Z:-2.73 [[ 9.64582273e-01 2.63724164e-01 5.53200597e-03 1.09968851e+02] [-2.63720111e-01 9.64598136e-01 -1.46283105e-03 -7.83298507e+00] [-5.72194654e-03 -4.78803267e-05 9.99983628e-01 -2.72549325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.00, Y:-7.84, Z:-2.73 [[ 9.64252056e-01 2.64957907e-01 3.90896525e-03 1.09999905e+02] [-2.64955890e-01 9.64259979e-01 -1.03432760e-03 -7.84053912e+00] [-4.04331202e-03 -3.83508511e-05 9.99991825e-01 -2.72718115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:-7.85, Z:-2.73 [[ 9.64077938e-01 2.65593183e-01 3.74049563e-03 1.10031130e+02] [-2.65591346e-01 9.64085193e-01 -9.88666374e-04 -7.84989887e+00] [-3.86873950e-03 -4.02918281e-05 9.99992516e-01 -2.72784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.06, Y:-7.86, Z:-2.73 [[ 9.63963982e-01 2.66005748e-01 3.79261764e-03 1.10062891e+02] [-2.66003860e-01 9.63971442e-01 -1.00299175e-03 -7.85912673e+00] [-3.92277667e-03 -4.20030153e-05 9.99992305e-01 -2.72874734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.09, Y:-7.87, Z:-2.73 [[ 9.63763069e-01 2.66739109e-01 3.31587360e-03 1.10094050e+02] [-2.66737670e-01 9.63768772e-01 -8.77305632e-04 -7.86627217e+00] [-3.42974715e-03 -3.89536276e-05 9.99994118e-01 -2.72946770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:-7.87, Z:-2.73 [[ 9.63758546e-01 2.66751143e-01 3.64590215e-03 1.10124865e+02] [-2.66749397e-01 9.63765441e-01 -9.65968163e-04 -7.87431803e+00] [-3.77146760e-03 -4.15821283e-05 9.99992887e-01 -2.73058691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.16, Y:-7.88, Z:-2.73 [[ 9.63914466e-01 2.66180540e-01 4.10155021e-03 1.10156071e+02] [-2.66178321e-01 9.63923191e-01 -1.08770134e-03 -7.88333832e+00] [-4.24310429e-03 -4.32926917e-05 9.99990997e-01 -2.73150665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:-7.89, Z:-2.73 [[ 9.64734176e-01 2.63196669e-01 3.93477388e-03 1.10185838e+02] [-2.63194593e-01 9.64742200e-01 -1.04555331e-03 -7.89398846e+00] [-4.07122856e-03 -2.69302034e-05 9.99991712e-01 -2.73201866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:-7.90, Z:-2.73 [[ 9.65248590e-01 2.61304683e-01 3.87585128e-03 1.10217168e+02] [-2.61302658e-01 9.65256371e-01 -1.02900248e-03 -7.90449409e+00] [-4.01007331e-03 -1.95270537e-05 9.99991959e-01 -2.73253475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.25, Y:-7.91, Z:-2.73 [[ 9.65739533e-01 2.59479274e-01 4.20242985e-03 1.10247518e+02] [-2.59476864e-01 9.65748677e-01 -1.11831309e-03 -7.91434524e+00] [-4.34867014e-03 -1.04341539e-05 9.99990544e-01 -2.73331090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.28, Y:-7.93, Z:-2.73 [[ 9.66510621e-01 2.56592545e-01 4.18142846e-03 1.10278717e+02] [-2.56590137e-01 9.66519667e-01 -1.11169263e-03 -7.92581660e+00] [-4.32668489e-03 1.54943724e-06 9.99990640e-01 -2.73397011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:-7.94, Z:-2.73 [[ 9.66681775e-01 2.55948415e-01 4.09326386e-03 1.10309464e+02] [-2.55946097e-01 9.66690441e-01 -1.08926336e-03 -7.93620863e+00] [-4.23571428e-03 5.31612635e-06 9.99991029e-01 -2.73495545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.34, Y:-7.95, Z:-2.74 [[ 9.66728998e-01 2.55773943e-01 3.83852973e-03 1.10340195e+02] [-2.55771901e-01 9.66736619e-01 -1.02204492e-03 -7.94676956e+00] [-3.97225971e-03 6.25241576e-06 9.99992111e-01 -2.73552856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.37, Y:-7.96, Z:-2.74 [[ 9.66238268e-01 2.57632576e-01 3.01102683e-03 1.10370591e+02] [-2.57631330e-01 9.66242959e-01 -8.01075241e-04 -7.95915726e+00] [-3.11576655e-03 -1.70529425e-06 9.99995146e-01 -2.73533439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:-7.97, Z:-2.74 [[ 9.65733869e-01 2.59510072e-01 3.55204292e-03 1.10401145e+02] [-2.59508345e-01 9.65740401e-01 -9.46815199e-04 -7.96900424e+00] [-3.67605943e-03 -7.41327381e-06 9.99993243e-01 -2.73552621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.43, Y:-7.98, Z:-2.74 [[ 9.64488024e-01 2.64083490e-01 4.77097419e-03 1.10431827e+02] [-2.64080420e-01 9.64499823e-01 -1.27392544e-03 -7.98014789e+00] [-4.93802644e-03 -3.12350396e-05 9.99987807e-01 -2.73520739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.46, Y:-7.99, Z:-2.74 [[ 9.63767444e-01 2.66697965e-01 4.95076111e-03 1.10462119e+02] [-2.66694685e-01 9.63780158e-01 -1.32335163e-03 -7.98946845e+00] [-5.12438052e-03 -4.49384573e-05 9.99986869e-01 -2.73525670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.49, Y:-8.00, Z:-2.74 [[ 9.63006663e-01 2.69434056e-01 4.84320740e-03 1.10494196e+02] [-2.69430949e-01 9.63018840e-01 -1.29517841e-03 -7.99853299e+00] [-5.01306515e-03 -5.76445237e-05 9.99987433e-01 -2.73582793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.53, Y:-8.01, Z:-2.74 [[ 9.62188212e-01 2.72334921e-01 5.24750797e-03 1.10525003e+02] [-2.72331302e-01 9.62202518e-01 -1.40606742e-03 -8.00641383e+00] [-5.43208664e-03 -7.61591807e-05 9.99985243e-01 -2.73748827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.56, Y:-8.01, Z:-2.74 [[ 9.60663100e-01 2.77645693e-01 6.26720594e-03 1.10556489e+02] [-2.77640634e-01 9.60683534e-01 -1.68070240e-03 -8.01283278e+00] [-6.48744134e-03 -1.25442251e-04 9.99978948e-01 -2.73922659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.59, Y:-8.02, Z:-2.74 [[ 9.60018557e-01 2.79870009e-01 6.09488225e-03 1.10588566e+02] [-2.79865273e-01 9.60037895e-01 -1.63385490e-03 -8.02212306e+00] [-6.30858491e-03 -1.37214868e-04 9.99980091e-01 -2.73986431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:-8.03, Z:-2.74 [[ 9.59088166e-01 2.83071250e-01 4.53391570e-03 1.10619923e+02] [-2.83068667e-01 9.59098876e-01 -1.21514098e-03 -8.03157370e+00] [-4.69244493e-03 -1.17982142e-04 9.99988983e-01 -2.73998676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.65, Y:-8.04, Z:-2.74 [[ 9.58619170e-01 2.84662459e-01 4.07087720e-03 1.10651528e+02] [-2.84660389e-01 9.58627807e-01 -1.09142216e-03 -8.03974301e+00] [-4.21314299e-03 -1.12559280e-04 9.99991118e-01 -2.74102406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:-8.05, Z:-2.74 [[ 9.57934295e-01 2.86961889e-01 3.84201744e-03 1.10682680e+02] [-2.86960056e-01 9.57941993e-01 -1.03198379e-03 -8.04592676e+00] [-3.97656986e-03 -1.13932879e-04 9.99992087e-01 -2.74096021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:-8.05, Z:-2.74 [[ 9.57706523e-01 2.87706393e-01 4.82144386e-03 1.10714583e+02] [-2.87703516e-01 9.57718648e-01 -1.29507987e-03 -8.05286674e+00] [-4.99018946e-03 -1.46839909e-04 9.99987538e-01 -2.74059934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.75, Y:-8.06, Z:-2.74 [[ 9.57663115e-01 2.87821475e-01 6.33693010e-03 1.10747305e+02] [-2.87816490e-01 9.57684062e-01 -1.70480898e-03 -8.05945387e+00] [-6.55945759e-03 -1.91240304e-04 9.99978468e-01 -2.74130864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:-8.07, Z:-2.74 [[ 9.57919085e-01 2.86955519e-01 6.89610730e-03 1.10778787e+02] [-2.86949579e-01 9.57943887e-01 -1.85720428e-03 -8.06661201e+00] [-7.13901885e-03 -1.99783665e-04 9.99974497e-01 -2.74216957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.81, Y:-8.07, Z:-2.74 [[ 9.59215134e-01 2.82624987e-01 5.42608686e-03 1.10810817e+02] [-2.82621241e-01 9.59230472e-01 -1.46111976e-03 -8.07340539e+00] [-5.61781681e-03 -1.31999216e-04 9.99984211e-01 -2.74361432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.84, Y:-8.08, Z:-2.75 [[ 9.60043362e-01 2.79791638e-01 5.77773739e-03 1.10843228e+02] [-2.79787331e-01 9.60060740e-01 -1.55715446e-03 -8.08138721e+00] [-5.98265763e-03 -1.21601917e-04 9.99982096e-01 -2.74532093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.88, Y:-8.09, Z:-2.75 [[ 9.61012236e-01 2.76422709e-01 6.78002462e-03 1.10875655e+02] [-2.76416666e-01 9.61036145e-01 -1.83134342e-03 -8.08885884e+00] [-7.02207363e-03 -1.14168371e-04 9.99975338e-01 -2.74638284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:-8.10, Z:-2.75 [[ 9.62906926e-01 2.69739047e-01 7.14836425e-03 1.10906243e+02] [-2.69732152e-01 9.62933456e-01 -1.92999149e-03 -8.09636643e+00] [-7.40399316e-03 -6.97414978e-05 9.99972588e-01 -2.74748425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:-8.11, Z:-2.75 [[ 9.63732800e-01 2.66790953e-01 6.45583744e-03 1.10937393e+02] [-2.66785258e-01 9.63754422e-01 -1.74371174e-03 -8.10655785e+00] [-6.68704839e-03 -4.18500569e-05 9.99977641e-01 -2.74749929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.97, Y:-8.12, Z:-2.75 [[ 9.65221210e-01 2.61351285e-01 6.59705697e-03 1.10968684e+02] [-2.61345201e-01 9.65243755e-01 -1.78319016e-03 -8.11753529e+00] [-6.83380708e-03 -2.93621572e-06 9.99976649e-01 -2.74678404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:-8.13, Z:-2.75 [[ 9.65817687e-01 2.59126384e-01 7.05066598e-03 1.10999676e+02] [-2.59119361e-01 9.65843423e-01 -1.90784270e-03 -8.12605097e+00] [-7.30421174e-03 1.56641658e-05 9.99973324e-01 -2.74727067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:-8.13, Z:-2.75 [[ 9.66259006e-01 2.57474676e-01 7.09404962e-03 1.11031637e+02] [-2.57467512e-01 9.66285046e-01 -1.92082932e-03 -8.13484753e+00] [-7.34943897e-03 2.95313197e-05 9.99972992e-01 -2.74790722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.06, Y:-8.14, Z:-2.75 [[ 9.67036836e-01 2.54538274e-01 7.07286653e-03 1.11062063e+02] [-2.54531062e-01 9.67062699e-01 -1.91678786e-03 -8.14427645e+00] [-7.32780127e-03 5.33402316e-05 9.99973150e-01 -2.74992931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:-8.15, Z:-2.75 [[ 9.67015429e-01 2.54619610e-01 7.07209175e-03 1.11094332e+02] [-2.54612380e-01 9.67041287e-01 -1.91964036e-03 -8.15318190e+00] [-7.32778279e-03 5.56797329e-05 9.99973150e-01 -2.75071336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:-8.16, Z:-2.75 [[ 9.67244851e-01 2.53752237e-01 6.87019212e-03 1.11124844e+02] [-2.53745399e-01 9.67269248e-01 -1.86380234e-03 -8.16356571e+00] [-7.11826958e-03 5.94735741e-05 9.99974663e-01 -2.75197738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.16, Y:-8.17, Z:-2.75 [[ 9.67167518e-01 2.54062903e-01 6.24763915e-03 1.11155811e+02] [-2.54057250e-01 9.67187696e-01 -1.69554388e-03 -8.17470403e+00] [-6.47341451e-03 5.26169380e-05 9.99979046e-01 -2.75283894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.19, Y:-8.19, Z:-2.75 [[ 9.66872172e-01 2.55207475e-01 5.22943889e-03 1.11186214e+02] [-2.55203528e-01 9.66886314e-01 -1.41976561e-03 -8.18547791e+00] [-5.41860769e-03 3.81606094e-05 9.99985319e-01 -2.75351182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.22, Y:-8.20, Z:-2.75 [[ 9.65745936e-01 2.59467031e-01 3.41283329e-03 1.11216994e+02] [-2.59465381e-01 9.65751966e-01 -9.25305469e-04 -8.19783786e+00] [-3.53603672e-03 8.09790652e-06 9.99993748e-01 -2.75429310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:-8.21, Z:-2.76 [[ 9.64967003e-01 2.62349041e-01 3.41529623e-03 1.11247154e+02] [-2.62347404e-01 9.64973046e-01 -9.26973510e-04 -8.20725127e+00] [-3.53885942e-03 -1.49524856e-06 9.99993738e-01 -2.75546744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:-8.22, Z:-2.76 [[ 9.63165909e-01 2.68885080e-01 3.49932716e-03 1.11278700e+02] [-2.68883402e-01 9.63172266e-01 -9.50403660e-04 -8.21644096e+00] [-3.62600424e-03 -2.55145862e-05 9.99993426e-01 -2.75579498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.31, Y:-8.23, Z:-2.76 [[ 9.61960048e-01 2.73162624e-01 3.87898488e-03 1.11308903e+02] [-2.73160590e-01 9.61967868e-01 -1.05508695e-03 -8.22542859e+00] [-4.01966913e-03 -4.46343115e-05 9.99991920e-01 -2.75627110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:-8.24, Z:-2.76 [[ 9.60639082e-01 2.77761179e-01 4.61317435e-03 1.11340843e+02] [-2.77758347e-01 9.60650156e-01 -1.25633165e-03 -8.23518209e+00] [-4.78060682e-03 -7.44664012e-05 9.99988570e-01 -2.75681109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:-8.24, Z:-2.76 [[ 9.59341507e-01 2.82202661e-01 5.05273314e-03 1.11371406e+02] [-2.82199312e-01 9.59354808e-01 -1.37881275e-03 -8.24406789e+00] [-5.23646846e-03 -1.03125514e-04 9.99986284e-01 -2.75682575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.40, Y:-8.25, Z:-2.76 [[ 9.57115846e-01 2.89665623e-01 4.80467787e-03 1.11403045e+02] [-2.89662693e-01 9.57127895e-01 -1.31022944e-03 -8.25240324e+00] [-4.97821964e-03 -1.37694570e-04 9.99987599e-01 -2.75782530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.43, Y:-8.26, Z:-2.76 [[ 9.55597373e-01 2.94632427e-01 5.03924669e-03 1.11433940e+02] [-2.94629264e-01 9.55610645e-01 -1.37567493e-03 -8.26007852e+00] [-5.22087622e-03 -1.70118201e-04 9.99986357e-01 -2.75821019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.47, Y:-8.27, Z:-2.76 [[ 9.55159790e-01 2.96030885e-01 5.95747773e-03 1.11465744e+02] [-2.96026482e-01 9.55178345e-01 -1.62800285e-03 -8.26692691e+00] [-6.17239285e-03 -2.08568311e-04 9.99980929e-01 -2.75876351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:-8.27, Z:-2.76 [[ 9.54920574e-01 2.96794911e-01 6.28313279e-03 1.11497211e+02] [-2.96790019e-01 9.54941218e-01 -1.71873982e-03 -8.27360446e+00] [-6.51013572e-03 -2.23511082e-04 9.99978784e-01 -2.75927450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:-8.28, Z:-2.76 [[ 9.55188820e-01 2.95947526e-01 5.42026529e-03 1.11529160e+02] [-2.95943870e-01 9.55204181e-01 -1.48292513e-03 -8.28055485e+00] [-5.61632809e-03 -1.87620785e-04 9.99984211e-01 -2.76126277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.56, Y:-8.29, Z:-2.76 [[ 9.55622738e-01 2.94543353e-01 5.42180903e-03 1.11559389e+02] [-2.94539665e-01 9.55638102e-01 -1.48466649e-03 -8.28933925e+00] [-5.61858594e-03 -1.78156759e-04 9.99984200e-01 -2.76207986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.59, Y:-8.30, Z:-2.76 [[ 9.56290921e-01 2.92355952e-01 5.97260265e-03 1.11591243e+02] [-2.92351426e-01 9.56309555e-01 -1.63678787e-03 -8.29850072e+00] [-6.19018166e-03 -1.80853517e-04 9.99980824e-01 -2.76255522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:-8.31, Z:-2.76 [[ 9.57937180e-01 2.86900008e-01 6.68912433e-03 1.11621650e+02] [-2.86894183e-01 9.57960521e-01 -1.83526782e-03 -8.30756197e+00] [-6.93445538e-03 -1.60999582e-04 9.99975943e-01 -2.76354367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.65, Y:-8.32, Z:-2.76 [[ 9.58688692e-01 2.84391354e-01 6.12783057e-03 1.11653652e+02] [-2.84386410e-01 9.58708267e-01 -1.68199922e-03 -8.31584183e+00] [-6.35314786e-03 -1.30158099e-04 9.99979810e-01 -2.76422147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.32, Z:-2.77 [[ 9.59962515e-01 2.80049158e-01 6.66628680e-03 1.11685383e+02] [-2.80043190e-01 9.59985655e-01 -1.83146929e-03 -8.32406715e+00] [-6.91244113e-03 -1.08706361e-04 9.99976103e-01 -2.76563399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.72, Y:-8.33, Z:-2.77 [[ 9.60496182e-01 2.78208795e-01 6.85206103e-03 1.11716678e+02] [-2.78202435e-01 9.60520618e-01 -1.88379840e-03 -8.33445792e+00] [-7.10563518e-03 -9.68788880e-05 9.99974750e-01 -2.76589399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.35, Z:-2.77 [[ 9.61042994e-01 2.76322681e-01 6.49148948e-03 1.11747645e+02] [-2.76316921e-01 9.61064915e-01 -1.78572692e-03 -8.34500008e+00] [-6.73217963e-03 -7.75480383e-05 9.99977336e-01 -2.76669589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:-8.36, Z:-2.77 [[ 9.62037672e-01 2.72864215e-01 5.35139103e-03 1.11777832e+02] [-2.72860245e-01 9.62052555e-01 -1.47260711e-03 -8.35547959e+00] [-5.55014119e-03 -4.34783533e-05 9.99984597e-01 -2.76777151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.81, Y:-8.36, Z:-2.77 [[ 9.62354844e-01 2.71744990e-01 5.27392988e-03 1.11809222e+02] [-2.71741113e-01 9.62369295e-01 -1.45201274e-03 -8.36409167e+00] [-5.47004537e-03 -3.57920775e-05 9.99985039e-01 -2.76903504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.84, Y:-8.37, Z:-2.77 [[ 9.62614678e-01 2.70818619e-01 5.50063664e-03 1.11840771e+02] [-2.70814379e-01 9.62630394e-01 -1.51571955e-03 -8.37268359e+00] [-5.70556509e-03 -3.05976046e-05 9.99983723e-01 -2.76961462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.38, Z:-2.77 [[ 9.62954626e-01 2.69601170e-01 5.79639927e-03 1.11870607e+02] [-2.69596423e-01 9.62972071e-01 -1.59994091e-03 -8.38328254e+00] [-6.01311655e-03 -2.20180098e-05 9.99981921e-01 -2.76985603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.90, Y:-8.39, Z:-2.77 [[ 9.62904182e-01 2.69784366e-01 5.65092089e-03 1.11902123e+02] [-2.69779861e-01 9.62920763e-01 -1.55917419e-03 -8.39464695e+00] [-5.86202987e-03 -2.31693070e-05 9.99982818e-01 -2.77031620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.93, Y:-8.41, Z:-2.77 [[ 9.62801501e-01 2.70173128e-01 4.44421698e-03 1.11933122e+02] [-2.70170347e-01 9.62811758e-01 -1.22596303e-03 -8.40684596e+00] [-4.61016663e-03 -2.03365990e-05 9.99989373e-01 -2.77015579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:-8.42, Z:-2.77 [[ 9.62667124e-01 2.70658394e-01 4.00519687e-03 1.11963457e+02] [-2.70656132e-01 9.62675456e-01 -1.10671796e-03 -8.41566557e+00] [-4.15524723e-03 -1.86300987e-05 9.99991367e-01 -2.77165820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.00, Y:-8.42, Z:-2.77 [[ 9.62399121e-01 2.71606452e-01 4.22690869e-03 1.11995500e+02] [-2.71603944e-01 9.62408403e-01 -1.16739817e-03 -8.42411224e+00] [-4.38508532e-03 -2.45421015e-05 9.99990385e-01 -2.77333635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:-8.43, Z:-2.78 [[ 9.61639722e-01 2.74277821e-01 4.55219776e-03 1.12027047e+02] [-2.74274937e-01 9.61650495e-01 -1.25834668e-03 -8.43200588e+00] [-4.72275982e-03 -3.84776078e-05 9.99988847e-01 -2.77507756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:-8.44, Z:-2.78 [[ 9.61122141e-01 2.76088969e-01 4.37157382e-03 1.12057890e+02] [-2.76086324e-01 9.61132082e-01 -1.20942112e-03 -8.44176588e+00] [-4.53556768e-03 -4.45303273e-05 9.99989713e-01 -2.77594245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.09, Y:-8.45, Z:-2.78 [[ 9.60035463e-01 2.79853593e-01 3.72512125e-03 1.12088890e+02] [-2.79851701e-01 9.60042688e-01 -1.03051986e-03 -8.45389820e+00] [-3.86467010e-03 -5.31459100e-05 9.99992531e-01 -2.77546935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.12, Y:-8.46, Z:-2.78 [[ 9.59384978e-01 2.82066088e-01 4.38029130e-03 1.12119772e+02] [-2.82063480e-01 9.59394975e-01 -1.21489311e-03 -8.46298132e+00] [-4.54510961e-03 -6.99700076e-05 9.99989668e-01 -2.77525224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:-8.47, Z:-2.77 [[ 9.58643247e-01 2.84566256e-01 5.01704161e-03 1.12150578e+02] [-2.84562870e-01 9.58656371e-01 -1.39147089e-03 -8.47172477e+00] [-5.20558456e-03 -9.37395881e-05 9.99986446e-01 -2.77455630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.48, Z:-2.78 [[ 9.57313728e-01 2.89017564e-01 4.39015018e-03 1.12182670e+02] [-2.89015017e-01 9.57323789e-01 -1.21768628e-03 -8.47753142e+00] [-4.55472793e-03 -1.03111538e-04 9.99989622e-01 -2.77595272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:-8.48, Z:-2.78 [[ 9.56782538e-01 2.90779541e-01 3.79924270e-03 1.12213724e+02] [-2.90777646e-01 9.56790076e-01 -1.05418741e-03 -8.48429879e+00] [-3.94161384e-03 -9.61067406e-05 9.99992227e-01 -2.77821890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.25, Y:-8.49, Z:-2.78 [[ 9.56448031e-01 2.91884378e-01 3.26715884e-03 1.12245935e+02] [-2.91882984e-01 9.56453607e-01 -9.06227328e-04 -8.49195473e+00] [-3.38939946e-03 -8.68687279e-05 9.99994252e-01 -2.78004893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:-8.50, Z:-2.78 [[ 9.56325227e-01 2.92277687e-01 3.97659833e-03 1.12276410e+02] [-2.92275617e-01 9.56333489e-01 -1.10508505e-03 -8.50075544e+00] [-4.12594586e-03 -1.05442018e-04 9.99991483e-01 -2.78106501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.31, Y:-8.51, Z:-2.78 [[ 9.56917759e-01 2.90279619e-01 6.79295065e-03 1.12306751e+02] [-2.90273497e-01 9.56941856e-01 -1.89215603e-03 -8.50960760e+00] [-7.04971314e-03 -1.61175831e-04 9.99975137e-01 -2.78059832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.34, Y:-8.52, Z:-2.78 [[ 9.57514290e-01 2.88305586e-01 6.80240931e-03 1.12338851e+02] [-2.88299389e-01 9.57538442e-01 -1.89596679e-03 -8.51888487e+00] [-7.06018623e-03 -1.45715154e-04 9.99975066e-01 -2.78032632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:-8.53, Z:-2.78 [[ 9.59025707e-01 2.83253954e-01 6.07372169e-03 1.12370352e+02] [-2.83248907e-01 9.59044936e-01 -1.69355417e-03 -8.52918227e+00] [-6.30467794e-03 -9.62130437e-05 9.99980121e-01 -2.78061974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.40, Y:-8.54, Z:-2.78 [[ 9.59716605e-01 2.80919462e-01 5.31919542e-03 1.12400639e+02] [-2.80915552e-01 9.59731343e-01 -1.48390230e-03 -8.53774933e+00] [-5.52185560e-03 -7.01190457e-05 9.99984752e-01 -2.78198470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.43, Y:-8.55, Z:-2.79 [[ 9.61168790e-01 2.75945233e-01 2.96391551e-03 1.12432182e+02] [-2.75944000e-01 9.61173360e-01 -8.25267160e-04 -8.54613124e+00] [-3.07656517e-03 -2.46536633e-05 9.99995267e-01 -2.78538150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:-8.56, Z:-2.79 [[ 9.61762245e-01 2.73871050e-01 2.83406062e-03 1.12463075e+02] [-2.73869913e-01 9.61766421e-01 -7.89345136e-04 -8.55643557e+00] [-2.94188312e-03 -1.70015853e-05 9.99995673e-01 -2.78640054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.49, Y:-8.57, Z:-2.79 [[ 9.62154055e-01 2.72485297e-01 3.36701771e-03 1.12492922e+02] [-2.72483677e-01 9.62159947e-01 -9.39644128e-04 -8.56705759e+00] [-3.49564879e-03 -1.33749594e-05 9.99993890e-01 -2.78657061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.52, Y:-8.58, Z:-2.79 [[ 9.62374595e-01 2.71705154e-01 3.38346481e-03 1.12523907e+02] [-2.71703511e-01 9.62380543e-01 -9.44734903e-04 -8.57818156e+00] [-3.51287004e-03 -1.01103995e-05 9.99993830e-01 -2.78664923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:-8.59, Z:-2.79 [[ 9.62634179e-01 2.70798268e-01 1.93301639e-03 1.12554759e+02] [-2.70797733e-01 9.62636119e-01 -5.38014735e-04 -8.58977087e+00] [-2.00648486e-03 -5.54508478e-06 9.99997987e-01 -2.78739910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.58, Y:-8.60, Z:-2.79 [[ 9.62579310e-01 2.70986758e-01 2.69233245e-03 1.12584803e+02] [-2.70985715e-01 9.62583075e-01 -7.52077725e-04 -8.59980956e+00] [-2.79539675e-03 -5.64917537e-06 9.99996093e-01 -2.78790974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:-8.61, Z:-2.79 [[ 9.62198282e-01 2.72307014e-01 4.83277523e-03 1.12615267e+02] [-2.72303644e-01 9.62210419e-01 -1.35474880e-03 -8.61020472e+00] [-5.01905428e-03 -1.24453397e-05 9.99987404e-01 -2.78839313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.65, Y:-8.62, Z:-2.79 [[ 9.61869077e-01 2.73461226e-01 5.18037099e-03 1.12646940e+02] [-2.73457366e-01 9.61883027e-01 -1.45302824e-03 -8.62030149e+00] [-5.38025782e-03 -1.89876723e-05 9.99985526e-01 -2.78873355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.68, Y:-8.63, Z:-2.79 [[ 9.61506878e-01 2.74718209e-01 5.86760759e-03 1.12677691e+02] [-2.74713268e-01 9.61524781e-01 -1.64786303e-03 -8.63033755e+00] [-6.09454809e-03 -2.74780195e-05 9.99981428e-01 -2.78978849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:-8.64, Z:-2.79 [[ 9.60829163e-01 2.77071539e-01 6.21945655e-03 1.12708747e+02] [-2.77066028e-01 9.60849291e-01 -1.74798718e-03 -8.64254028e+00] [-6.46027792e-03 -4.36830681e-05 9.99979131e-01 -2.78971422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.74, Y:-8.65, Z:-2.79 [[ 9.60324508e-01 2.78818343e-01 6.09681913e-03 1.12739180e+02] [-2.78813074e-01 9.60343860e-01 -1.71488588e-03 -8.65240901e+00] [-6.33318446e-03 -5.30259487e-05 9.99979944e-01 -2.79064017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.66, Z:-2.79 [[ 9.59667227e-01 2.81081156e-01 5.67423593e-03 1.12769608e+02] [-2.81076627e-01 9.59684000e-01 -1.59689007e-03 -8.66224006e+00] [-5.89432914e-03 -6.24120334e-05 9.99982626e-01 -2.79168888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:-8.67, Z:-2.79 [[ 9.58436918e-01 2.85275430e-01 4.07472135e-03 1.12800657e+02] [-2.85273135e-01 9.58445577e-01 -1.14603600e-03 -8.67486124e+00] [-4.23233457e-03 -6.40053224e-05 9.99991042e-01 -2.79163286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.68, Z:-2.79 [[ 9.57778373e-01 2.87487147e-01 3.42473797e-03 1.12832461e+02] [-2.87485541e-01 9.57784494e-01 -9.63143469e-04 -8.68430648e+00] [-3.55705229e-03 -6.20846621e-05 9.99993672e-01 -2.79226717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.86, Y:-8.69, Z:-2.79 [[ 9.56450708e-01 2.91877843e-01 3.06067781e-03 1.12864324e+02] [-2.91876582e-01 9.56455603e-01 -8.60863113e-04 -8.69177613e+00] [-3.17866931e-03 -6.99670444e-05 9.99994946e-01 -2.79446691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:-8.70, Z:-2.80 [[ 9.55947037e-01 2.93524418e-01 2.94581843e-03 1.12894913e+02] [-2.93523255e-01 9.55951573e-01 -8.29260231e-04 -8.70020466e+00] [-3.05946789e-03 -7.19373541e-05 9.99995317e-01 -2.79575204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.93, Y:-8.71, Z:-2.80 [[ 9.55523052e-01 2.94895540e-01 3.50963424e-03 1.12925469e+02] [-2.94893893e-01 9.55529493e-01 -9.89499992e-04 -8.70973354e+00] [-3.64535816e-03 -8.94796521e-05 9.99993352e-01 -2.79687003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:-8.72, Z:-2.80 [[ 9.55193151e-01 2.95961899e-01 3.54941193e-03 1.12956525e+02] [-2.95960221e-01 9.55199741e-01 -1.00123902e-03 -8.71970575e+00] [-3.68672596e-03 -9.41080882e-05 9.99993200e-01 -2.79769017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.99, Y:-8.73, Z:-2.80 [[ 9.55145375e-01 2.96123309e-01 2.88077520e-03 1.12987197e+02] [-2.96122204e-01 9.55149716e-01 -8.12615620e-04 -8.72860313e+00] [-2.99220604e-03 -7.68954499e-05 9.99995520e-01 -2.79869749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.02, Y:-8.74, Z:-2.80 [[ 9.55095687e-01 2.96286389e-01 2.56980876e-03 1.13019129e+02] [-2.96285511e-01 9.55099142e-01 -7.24611202e-04 -8.73781977e+00] [-2.66911458e-03 -6.93240683e-05 9.99996436e-01 -2.79945687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:-8.75, Z:-2.80 [[ 9.54736514e-01 2.97448063e-01 1.68497099e-03 1.13051340e+02] [-2.97447690e-01 9.54737999e-01 -4.73806160e-04 -8.74568342e+00] [-1.74963855e-03 -4.88306855e-05 9.99998468e-01 -2.79903062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.08, Y:-8.75, Z:-2.80 [[ 9.54484312e-01 2.98258991e-01 1.12804895e-03 1.13082847e+02] [-2.98258825e-01 9.54484978e-01 -3.16203151e-04 -8.75323290e+00] [-1.17101621e-03 -3.46396087e-05 9.99999314e-01 -2.80028394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.11, Y:-8.76, Z:-2.80 [[ 9.54446014e-01 2.98381526e-01 1.12769085e-03 1.13114997e+02] [-2.98381359e-01 9.54446679e-01 -3.17464095e-04 -8.76251992e+00] [-1.17104621e-03 -3.34795889e-05 9.99999314e-01 -2.80106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:-8.77, Z:-2.80 [[ 9.54118556e-01 2.99424963e-01 1.57264616e-03 1.13147662e+02] [-2.99424639e-01 9.54119851e-01 -4.42871350e-04 -8.76861639e+00] [-1.63309965e-03 -4.83372353e-05 9.99998665e-01 -2.80303953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.18, Y:-8.78, Z:-2.80 [[ 9.54097334e-01 2.99491935e-01 1.69065943e-03 1.13178444e+02] [-2.99491559e-01 9.54098831e-01 -4.77050581e-04 -8.77600696e+00] [-1.75592899e-03 -5.11855408e-05 9.99998457e-01 -2.80416273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:-8.78, Z:-2.81 [[ 9.54239688e-01 2.99039552e-01 1.40170768e-03 1.13210189e+02] [-2.99039294e-01 9.54240716e-01 -3.94710099e-04 -8.78425198e+00] [-1.45560048e-03 -4.25176348e-05 9.99998940e-01 -2.80509108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.24, Y:-8.79, Z:-2.81 [[ 9.55165220e-01 2.96062023e-01 2.58473132e-03 1.13242776e+02] [-2.96061124e-01 9.55168715e-01 -7.32247408e-04 -8.78970723e+00] [-2.68564515e-03 -6.58212056e-05 9.99996391e-01 -2.80577176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.27, Y:-8.80, Z:-2.81 [[ 9.55781301e-01 2.94066506e-01 2.64485101e-03 1.13274372e+02] [-2.94065556e-01 9.55784958e-01 -7.50195662e-04 -8.79624022e+00] [-2.74851623e-03 -6.07365957e-05 9.99996221e-01 -2.80735728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.31, Y:-8.80, Z:-2.81 [[ 9.57132882e-01 2.89649152e-01 -1.22930124e-04 1.13306978e+02] [-2.89649150e-01 9.57132890e-01 3.70811816e-05 -8.80082740e+00] [ 1.28400998e-04 1.14987708e-07 9.99999992e-01 -2.80793963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.34, Y:-8.81, Z:-2.81 [[ 9.57636324e-01 2.87980012e-01 4.27672197e-04 1.13338665e+02] [-2.87979989e-01 9.57636420e-01 -1.17482481e-04 -8.80850193e+00] [-4.43387078e-04 -1.06555433e-05 9.99999902e-01 -2.80824061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:-8.82, Z:-2.81 [[ 9.58144417e-01 2.86278700e-01 1.94498620e-03 1.13370906e+02] [-2.86278171e-01 9.58146390e-01 -5.51132580e-04 -8.81654935e+00] [-2.02135903e-03 -2.87424884e-05 9.99997957e-01 -2.80789871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.40, Y:-8.82, Z:-2.81 [[ 9.59178532e-01 2.82782375e-01 3.26675176e-03 1.13403398e+02] [-2.82780848e-01 9.59184095e-01 -9.29815462e-04 -8.82035798e+00] [-3.39635176e-03 -3.19158050e-05 9.99994232e-01 -2.80700539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:-8.83, Z:-2.81 [[ 9.59676565e-01 2.81085514e-01 3.43871169e-03 1.13435879e+02] [-2.81083809e-01 9.59682725e-01 -9.79477604e-04 -8.82632307e+00] [-3.57538917e-03 -2.65844778e-05 9.99993608e-01 -2.80767381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.47, Y:-8.83, Z:-2.81 [[ 9.60218247e-01 2.79224538e-01 3.81777720e-03 1.13468278e+02] [-2.79222416e-01 9.60225837e-01 -1.08874877e-03 -8.83251617e+00] [-3.96993368e-03 -2.05725371e-05 9.99992120e-01 -2.80839211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:-8.84, Z:-2.81 [[ 9.61557853e-01 2.74562752e-01 4.66796823e-03 1.13501006e+02] [-2.74559514e-01 9.61569184e-01 -1.33342054e-03 -8.83524220e+00] [-4.85468201e-03 5.25909851e-07 9.99988216e-01 -2.80993631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.84, Z:-2.81 [[ 9.62221410e-01 2.72226407e-01 4.76889447e-03 1.13533224e+02] [-2.72222995e-01 9.62233227e-01 -1.36292088e-03 -8.84103389e+00] [-4.95981177e-03 1.32289158e-05 9.99987700e-01 -2.81098714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:-8.85, Z:-2.81 [[ 9.63609959e-01 2.67249849e-01 5.77622209e-03 1.13565174e+02] [-2.67244740e-01 9.63627270e-01 -1.65326835e-03 -8.84694767e+00] [-6.00796084e-03 4.94408763e-05 9.99981951e-01 -2.81118878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.60, Y:-8.86, Z:-2.81 [[ 9.64264893e-01 2.64856332e-01 6.65878036e-03 1.13596409e+02] [-2.64849472e-01 9.64287881e-01 -1.90772460e-03 -8.85667483e+00] [-6.92625415e-03 7.59773992e-05 9.99976010e-01 -2.81102148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:-8.87, Z:-2.81 [[ 9.64890033e-01 2.62569465e-01 6.67092510e-03 1.13626610e+02] [-2.62562514e-01 9.64913088e-01 -1.91279816e-03 -8.86613264e+00] [-6.93910532e-03 9.41050136e-05 9.99975920e-01 -2.81052755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67420382200001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.66, Y:-8.87, Z:-2.81 [[ 9.65408306e-01 2.60666808e-01 6.29425932e-03 1.13658244e+02] [-2.60660576e-01 9.65428819e-01 -1.80533565e-03 -8.87435587e+00] [-6.54725043e-03 1.02220767e-04 9.99978561e-01 -2.81127974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.69, Y:-8.88, Z:-2.81 [[ 9.66194271e-01 2.57766237e-01 5.01966652e-03 1.13689689e+02] [-2.57762233e-01 9.66207306e-01 -1.44010423e-03 -8.88110252e+00] [-5.22124871e-03 9.75400043e-05 9.99986364e-01 -2.81393579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:-8.89, Z:-2.82 [[ 9.66284443e-01 2.57446699e-01 3.94612235e-03 1.13721291e+02] [-2.57444222e-01 9.66292498e-01 -1.13180082e-03 -8.89001239e+00] [-4.10448681e-03 7.77351261e-05 9.99991574e-01 -2.81561820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.75, Y:-8.90, Z:-2.82 [[ 9.65828605e-01 2.59169124e-01 2.54384109e-03 1.13753544e+02] [-2.59168104e-01 9.65831954e-01 -7.28487587e-04 -8.89820883e+00] [-2.64572450e-03 4.43116794e-05 9.99996499e-01 -2.81697539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.78, Y:-8.91, Z:-2.82 [[ 9.65296840e-01 2.61149082e-01 1.78004253e-03 1.13784064e+02] [-2.61148587e-01 9.65298480e-01 -5.09008688e-04 -8.90651784e+00] [-1.85119950e-03 2.64888860e-05 9.99998286e-01 -2.81752570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.92, Z:-2.82 [[ 9.64640183e-01 2.63569871e-01 4.90261286e-04 1.13815351e+02] [-2.63569836e-01 9.64640307e-01 -1.36842338e-04 -8.91582093e+00] [-5.08993316e-04 2.78553144e-06 9.99999870e-01 -2.81800306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:-8.93, Z:-2.82 [[ 9.63180756e-01 2.68850743e-01 -1.45212587e-03 1.13846072e+02] [-2.68850410e-01 9.63181851e-01 4.23723116e-04 -8.92516882e+00] [ 1.51257955e-03 -1.77173170e-05 9.99998856e-01 -2.81842815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.93, Z:-2.82 [[ 9.62329879e-01 2.71881275e-01 -1.33297660e-03 1.13878322e+02] [-2.71880995e-01 9.62330802e-01 3.89932452e-04 -8.93377543e+00] [ 1.38877977e-03 -1.28326450e-05 9.99999036e-01 -2.81890478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.91, Y:-8.94, Z:-2.82 [[ 9.61468989e-01 2.74913010e-01 -4.69412713e-04 1.13910412e+02] [-2.74912975e-01 9.61469103e-01 1.40455184e-04 -8.94135309e+00] [ 4.89938778e-04 -5.99565801e-06 9.99999880e-01 -2.81987491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.95, Z:-2.82 [[ 9.59831784e-01 2.80571176e-01 1.66188090e-03 1.13942470e+02] [-2.80570769e-01 9.59833223e-01 -4.77962261e-04 -8.94714112e+00] [-1.72923093e-03 -7.51183248e-06 9.99998505e-01 -2.81956704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:-8.96, Z:-2.82 [[ 9.58989028e-01 2.83435274e-01 2.11912373e-03 1.13974657e+02] [-2.83434620e-01 9.58991369e-01 -6.08985069e-04 -8.95504537e+00] [-2.20482922e-03 -1.66230301e-05 9.99997569e-01 -2.81987220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:-8.96, Z:-2.82 [[ 9.58220151e-01 2.86016916e-01 2.90964625e-03 1.14006341e+02] [-2.86015684e-01 9.58224568e-01 -8.40023899e-04 -8.96214441e+00] [-3.02835556e-03 -2.72766334e-05 9.99995414e-01 -2.82069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:-8.97, Z:-2.82 [[ 9.56823120e-01 2.90642520e-01 4.05507498e-03 1.14037886e+02] [-2.90640165e-01 9.56831711e-01 -1.17123347e-03 -8.96776060e+00] [-4.22043458e-03 -5.79043965e-05 9.99991092e-01 -2.82145241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.07, Y:-8.98, Z:-2.82 [[ 9.56229310e-01 2.92588554e-01 4.17680610e-03 1.14070435e+02] [-2.92586072e-01 9.56238429e-01 -1.20701064e-03 -8.97565513e+00] [-4.34718000e-03 -6.78963441e-05 9.99990549e-01 -2.82212108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:-8.98, Z:-2.82 [[ 9.55303479e-01 2.95596803e-01 4.21817455e-03 1.14102408e+02] [-2.95594291e-01 9.55312788e-01 -1.22130951e-03 -8.98061289e+00] [-4.39069128e-03 -8.01470913e-05 9.99990358e-01 -2.82242941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:-8.99, Z:-2.82 [[ 9.54980184e-01 2.96639835e-01 4.20186796e-03 1.14134682e+02] [-2.96637356e-01 9.54989424e-01 -1.21576298e-03 -8.98832465e+00] [-4.37338320e-03 -8.54014522e-05 9.99990433e-01 -2.82300593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:-9.00, Z:-2.82 [[ 9.54833973e-01 2.97111288e-01 4.11897546e-03 1.14167286e+02] [-2.97108907e-01 9.54842854e-01 -1.19245602e-03 -8.99595697e+00] [-4.28726643e-03 -8.51867787e-05 9.99990806e-01 -2.82288612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.20, Y:-9.00, Z:-2.82 [[ 9.55081094e-01 2.96296299e-01 5.34857517e-03 1.14199313e+02] [-2.96292257e-01 9.55096064e-01 -1.55116432e-03 -9.00053793e+00] [-5.56800734e-03 -1.03253691e-04 9.99984493e-01 -2.82418526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.23, Y:-9.01, Z:-2.83 [[ 9.55463803e-01 2.95060454e-01 5.31500761e-03 1.14231885e+02] [-2.95056439e-01 9.55478581e-01 -1.54219732e-03 -9.00772970e+00] [-5.53341737e-03 -9.47135012e-05 9.99984686e-01 -2.82502378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.26, Y:-9.02, Z:-2.83 [[ 9.55906623e-01 2.93631562e-01 4.79935775e-03 1.14262423e+02] [-2.93628266e-01 9.55918668e-01 -1.39335733e-03 -9.01604406e+00] [-4.99692936e-03 -7.73075986e-05 9.99987512e-01 -2.82587222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.29, Y:-9.02, Z:-2.83 [[ 9.56880428e-01 2.90463415e-01 3.29422350e-03 1.14293078e+02] [-2.90461846e-01 9.56886097e-01 -9.55722717e-04 -9.02438089e+00] [-3.42979915e-03 -4.23338764e-05 9.99994117e-01 -2.82632905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.32, Y:-9.03, Z:-2.83 [[ 9.57245113e-01 2.89252426e-01 3.85060705e-03 1.14324155e+02] [-2.89250266e-01 9.57252857e-01 -1.11870539e-03 -9.03277998e+00] [-4.00959285e-03 -4.29138482e-05 9.99991961e-01 -2.82741579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.36, Y:-9.04, Z:-2.83 [[ 9.57705574e-01 2.87725060e-01 3.78469080e-03 1.14357003e+02] [-2.87722962e-01 9.57713051e-01 -1.09957552e-03 -9.03781388e+00] [-3.94102320e-03 -3.58728384e-05 9.99992233e-01 -2.82836783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:-9.05, Z:-2.83 [[ 9.57861750e-01 2.87214361e-01 2.96306905e-03 1.14387957e+02] [-2.87213072e-01 9.57866332e-01 -8.60741033e-04 -9.04564851e+00] [-3.08544127e-03 -2.65612536e-05 9.99995240e-01 -2.82940334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:-9.05, Z:-2.83 [[ 9.58023632e-01 2.86683107e-01 1.87535600e-03 1.14419774e+02] [-2.86682593e-01 9.58025467e-01 -5.43266138e-04 -9.05499515e+00] [-1.95238403e-03 -1.71701227e-05 9.99998094e-01 -2.82988121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.45, Y:-9.06, Z:-2.83 [[ 9.58196986e-01 2.86107682e-01 9.64828769e-04 1.14450461e+02] [-2.86107548e-01 9.58197471e-01 -2.77433922e-04 -9.06280106e+00] [-1.00387246e-03 -1.02084457e-05 9.99999496e-01 -2.83104397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:-9.07, Z:-2.83 [[ 9.58087092e-01 2.86476490e-01 5.86625164e-04 1.14481535e+02] [-2.86476442e-01 9.58087272e-01 -1.67279145e-04 -9.07065662e+00] [-6.09959645e-04 -7.78629953e-06 9.99999814e-01 -2.83169242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.51, Y:-9.08, Z:-2.83 [[ 9.57455843e-01 2.88577517e-01 1.15164492e-03 1.14513383e+02] [-2.88577325e-01 9.57456535e-01 -3.33323548e-04 -9.07524535e+00] [-1.19883964e-03 -1.31960314e-05 9.99999281e-01 -2.83142521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:-9.08, Z:-2.83 [[ 9.56849177e-01 2.90580695e-01 1.58481343e-03 1.14546037e+02] [-2.90580332e-01 9.56850490e-01 -4.59776241e-04 -9.08143675e+00] [-1.65003161e-03 -2.05790936e-05 9.99998638e-01 -2.83171766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.58, Y:-9.09, Z:-2.83 [[ 9.56043533e-01 2.93219211e-01 1.80459236e-03 1.14578249e+02] [-2.93218743e-01 9.56045236e-01 -5.25081222e-04 -9.08751316e+00] [-1.87923583e-03 -2.71397947e-05 9.99998234e-01 -2.83202473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:-9.09, Z:-2.83 [[ 9.55251886e-01 2.95784629e-01 2.29931713e-03 1.14609967e+02] [-2.95783871e-01 9.55254653e-01 -6.70507873e-04 -9.09402210e+00] [-2.39475931e-03 -3.95970113e-05 9.99997132e-01 -2.83268075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.64, Y:-9.10, Z:-2.83 [[ 9.54254880e-01 2.98969033e-01 3.89104024e-03 1.14641141e+02] [-2.98966865e-01 9.54262811e-01 -1.14100037e-03 -9.09841164e+00] [-4.05419878e-03 -7.44869300e-05 9.99991779e-01 -2.83222190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.67, Y:-9.11, Z:-2.83 [[ 9.54016020e-01 2.99710128e-01 5.22235087e-03 1.14673643e+02] [-2.99706249e-01 9.54030308e-01 -1.52858635e-03 -9.10521038e+00] [-5.44041381e-03 -1.06875328e-04 9.99985195e-01 -2.83243769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.71, Y:-9.11, Z:-2.83 [[ 9.54277496e-01 2.98843707e-01 6.84837380e-03 1.14707568e+02] [-2.98836994e-01 9.54302060e-01 -2.00729103e-03 -9.10830940e+00] [-7.13528352e-03 -1.31034784e-04 9.99974535e-01 -2.83286384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.74, Y:-9.11, Z:-2.83 [[ 9.54608738e-01 2.97797987e-01 6.20618579e-03 1.14739260e+02] [-2.97792445e-01 9.54628905e-01 -1.82016065e-03 -9.11476638e+00] [-6.46664452e-03 -1.10613978e-04 9.99979085e-01 -2.83385597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:-9.12, Z:-2.84 [[ 9.55592140e-01 2.94632036e-01 5.96868719e-03 1.14771157e+02] [-2.94626841e-01 9.55610777e-01 -1.75161050e-03 -9.12056291e+00] [-6.21982237e-03 -8.47102239e-05 9.99980653e-01 -2.83508164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.80, Y:-9.13, Z:-2.84 [[ 9.56120679e-01 2.92903289e-01 6.39619994e-03 1.14801487e+02] [-2.92897271e-01 9.56142070e-01 -1.87907783e-03 -9.12901768e+00] [-6.66606393e-03 -7.68043342e-05 9.99977779e-01 -2.83537352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:-9.14, Z:-2.84 [[ 9.56585297e-01 2.91378972e-01 6.54704922e-03 1.14831342e+02] [-2.91372608e-01 9.56607699e-01 -1.92684002e-03 -9.13816602e+00] [-6.82439836e-03 -6.44439766e-05 9.99976711e-01 -2.83586141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:-9.15, Z:-2.84 [[ 9.57035340e-01 2.89906777e-01 6.11701690e-03 1.14861625e+02] [-2.89901191e-01 9.57054888e-01 -1.80039941e-03 -9.14596690e+00] [-6.37626892e-03 -5.02846186e-05 9.99979670e-01 -2.83616341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.89, Y:-9.15, Z:-2.84 [[ 9.57478246e-01 2.88457340e-01 5.26988112e-03 1.14892608e+02] [-2.88453171e-01 9.57492748e-01 -1.55134234e-03 -9.14911313e+00] [-5.49336904e-03 -3.47373805e-05 9.99984911e-01 -2.83660008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:-9.15, Z:-2.84 [[ 9.57494279e-01 2.88413300e-01 4.74061932e-03 1.14922484e+02] [-2.88409924e-01 9.57506014e-01 -1.39579645e-03 -9.15452765e+00] [-4.94173777e-03 -3.07745362e-05 9.99987789e-01 -2.83761707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:-9.16, Z:-2.84 [[ 9.57551109e-01 2.88226114e-01 4.64550591e-03 1.14952533e+02] [-2.88222870e-01 9.57562377e-01 -1.36779189e-03 -9.16122271e+00] [-4.84259503e-03 -2.92104009e-05 9.99988274e-01 -2.83876313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:-9.17, Z:-2.84 [[ 9.57672332e-01 2.87823822e-01 4.59909228e-03 1.14981417e+02] [-2.87820644e-01 9.57683375e-01 -1.35300107e-03 -9.17097494e+00] [-4.79390016e-03 -2.79820096e-05 9.99988509e-01 -2.83917329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.01, Y:-9.18, Z:-2.84 [[ 9.57860410e-01 2.87209619e-01 3.75095642e-03 1.15011358e+02] [-2.87207497e-01 9.57867754e-01 -1.10415384e-03 -9.18077151e+00] [-3.91004381e-03 -1.96775516e-05 9.99992356e-01 -2.83941275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:-9.19, Z:-2.84 [[ 9.57949557e-01 2.86906076e-01 4.18929573e-03 1.15042543e+02] [-2.86903426e-01 9.57958717e-01 -1.23335844e-03 -9.18711214e+00] [-4.36703039e-03 -2.04281271e-05 9.99990464e-01 -2.84006604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.07, Y:-9.19, Z:-2.84 [[ 9.57817975e-01 2.87337672e-01 4.66776668e-03 1.15071409e+02] [-2.87334383e-01 9.57829349e-01 -1.37512186e-03 -9.19288382e+00] [-4.86604823e-03 -2.40934157e-05 9.99988160e-01 -2.84083642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.10, Y:-9.20, Z:-2.84 [[ 9.57821425e-01 2.87326174e-01 4.66778423e-03 1.15100350e+02] [-2.87322885e-01 9.57832798e-01 -1.37506226e-03 -9.20136782e+00] [-4.86604821e-03 -2.40971334e-05 9.99988160e-01 -2.84154172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:-9.21, Z:-2.84 [[ 9.57572234e-01 2.88167014e-01 3.89734099e-03 1.15129078e+02] [-2.88164726e-01 9.57580164e-01 -1.14857796e-03 -9.20609124e+00] [-4.06299871e-03 -2.32298379e-05 9.99991746e-01 -2.84341642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.16, Y:-9.21, Z:-2.84 [[ 9.57433683e-01 2.88636528e-01 3.11414374e-03 1.15157123e+02] [-2.88635069e-01 9.57438747e-01 -9.18069747e-04 -9.21361271e+00] [-3.24659035e-03 -1.98601950e-05 9.99994730e-01 -2.84480394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:-9.22, Z:-2.85 [[ 9.57321457e-01 2.89014667e-01 2.47993418e-03 1.15184595e+02] [-2.89013743e-01 9.57324669e-01 -7.31217744e-04 -9.22135120e+00] [-2.58543482e-03 -1.67246228e-05 9.99996658e-01 -2.84564419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.21, Y:-9.23, Z:-2.85 [[ 9.56896941e-01 2.90424845e-01 1.28583953e-03 1.15212873e+02] [-2.90424598e-01 9.56897805e-01 -3.79636949e-04 -9.22802784e+00] [-1.34067303e-03 -1.01659928e-05 9.99999101e-01 -2.84600267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:-9.23, Z:-2.85 [[ 9.56450228e-01 2.91892353e-01 1.34779237e-03 1.15239873e+02] [-2.91892081e-01 9.56451177e-01 -3.98072571e-04 -9.23312313e+00] [-1.40529194e-03 -1.26733187e-05 9.99999012e-01 -2.84639430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.27, Y:-9.24, Z:-2.85 [[ 9.55963851e-01 2.93479678e-01 1.67143327e-03 1.15268138e+02] [-2.93479264e-01 9.55965312e-01 -4.92941351e-04 -9.23785929e+00] [-1.74250050e-03 -1.92968937e-05 9.99998482e-01 -2.84674580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.30, Y:-9.24, Z:-2.85 [[ 9.55545937e-01 2.94838160e-01 1.55603416e-03 1.15295848e+02] [-2.94837803e-01 9.55547204e-01 -4.59179029e-04 -9.24193189e+00] [-1.62224759e-03 -2.00110386e-05 9.99998684e-01 -2.84699002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.32, Y:-9.25, Z:-2.85 [[ 9.55646702e-01 2.94506158e-01 2.34601474e-03 1.15323313e+02] [-2.94505348e-01 9.55649581e-01 -6.91345052e-04 -9.24869875e+00] [-2.44557338e-03 -3.02322678e-05 9.99997009e-01 -2.84767989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.35, Y:-9.25, Z:-2.85 [[ 9.56443753e-01 2.91897208e-01 3.37164044e-03 1.15351993e+02] [-2.91895523e-01 9.56449695e-01 -9.92512386e-04 -9.25322317e+00] [-3.51451606e-03 -3.48844773e-05 9.99993823e-01 -2.84835992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:-9.26, Z:-2.85 [[ 9.57073799e-01 2.89821975e-01 3.60089147e-03 1.15379080e+02] [-2.89820038e-01 9.57080572e-01 -1.05996817e-03 -9.26003063e+00] [-3.75354534e-03 -2.91427434e-05 9.99992955e-01 -2.84907445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.41, Y:-9.27, Z:-2.85 [[ 9.57747640e-01 2.87570857e-01 4.73921413e-03 1.15406481e+02] [-2.87567479e-01 9.57759365e-01 -1.39408251e-03 -9.26806363e+00] [-4.93992422e-03 -2.76646304e-05 9.99987798e-01 -2.84898554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.43, Y:-9.28, Z:-2.85 [[ 9.59109306e-01 2.82965899e-01 6.29589283e-03 1.15432809e+02] [-2.82959842e-01 9.59129970e-01 -1.85147808e-03 -9.27627781e+00] [-6.56248467e-03 -5.71498374e-06 9.99978467e-01 -2.84857965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.46, Y:-9.29, Z:-2.85 [[ 9.59911235e-01 2.80241680e-01 5.91784722e-03 1.15460071e+02] [-2.80236280e-01 9.59929477e-01 -1.73977020e-03 -9.28558573e+00] [-6.16827211e-03 1.16294766e-05 9.99980976e-01 -2.84951784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:-9.30, Z:-2.85 [[ 9.60569712e-01 2.77986545e-01 5.41382576e-03 1.15487607e+02] [-2.77981991e-01 9.60584968e-01 -1.59142760e-03 -9.29500760e+00] [-5.64283510e-03 2.37310891e-05 9.99984079e-01 -2.84992120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.52, Y:-9.30, Z:-2.85 [[ 9.61388337e-01 2.75149788e-01 5.00584020e-03 1.15515503e+02] [-2.75145857e-01 9.61401369e-01 -1.47132541e-03 -9.30385742e+00] [-5.21745650e-03 3.71789011e-05 9.99986388e-01 -2.85075616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.54, Y:-9.31, Z:-2.85 [[ 9.61706296e-01 2.74047865e-01 4.33231884e-03 1.15542187e+02] [-2.74044908e-01 9.61716053e-01 -1.27352501e-03 -9.31192444e+00] [-4.51546738e-03 3.75071008e-05 9.99989805e-01 -2.85185399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:-9.32, Z:-2.85 [[ 9.62008139e-01 2.73005400e-01 2.89702520e-03 1.15570006e+02] [-2.73004075e-01 9.62012500e-01 -8.51154700e-04 -9.32271269e+00] [-3.01934429e-03 2.79180635e-05 9.99995441e-01 -2.85244308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.60, Y:-9.33, Z:-2.85 [[ 9.62056955e-01 2.72834826e-01 2.75196119e-03 1.15597966e+02] [-2.72833630e-01 9.62060890e-01 -8.08499496e-04 -9.33260264e+00] [-2.86814106e-03 2.69950016e-05 9.99995887e-01 -2.85350737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.62, Y:-9.34, Z:-2.85 [[ 9.62055478e-01 2.72836205e-01 3.10839514e-03 1.15624869e+02] [-2.72834678e-01 9.62060499e-01 -9.13310922e-04 -9.34265621e+00] [-3.23964846e-03 3.05777891e-05 9.99994752e-01 -2.85402882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.65, Y:-9.35, Z:-2.85 [[ 9.61914304e-01 2.73333639e-01 3.09747114e-03 1.15652466e+02] [-2.73332127e-01 9.61919290e-01 -9.09707614e-04 -9.35356558e+00] [-3.22817093e-03 2.84223924e-05 9.99994789e-01 -2.85453308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:-9.37, Z:-2.85 [[ 9.61334897e-01 2.75373691e-01 2.13211720e-03 1.15679833e+02] [-2.75372979e-01 9.61337262e-01 -6.26318825e-04 -9.36612870e+00] [-2.22215544e-03 1.49746785e-05 9.99997531e-01 -2.85477312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.71, Y:-9.37, Z:-2.86 [[ 9.60781882e-01 2.77296529e-01 2.19328736e-03 1.15708225e+02] [-2.77295781e-01 9.60784385e-01 -6.44212912e-04 -9.37410159e+00] [-2.28591425e-03 1.07587623e-05 9.99997387e-01 -2.85545200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.74, Y:-9.38, Z:-2.86 [[ 9.59042383e-01 2.83257482e-01 1.70472588e-03 1.15735712e+02] [-2.83257038e-01 9.59043898e-01 -5.01606143e-04 -9.38036494e+00] [-1.77699064e-03 -1.81405115e-06 9.99998421e-01 -2.85610656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:-9.39, Z:-2.86 [[ 9.58034062e-01 2.86652487e-01 1.04285482e-03 1.15763115e+02] [-2.86652322e-01 9.58034630e-01 -3.07057357e-04 -9.38870439e+00] [-1.08710978e-03 -4.76534787e-06 9.99999409e-01 -2.85704361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:-9.40, Z:-2.86 [[ 9.56990611e-01 2.90118200e-01 6.32626122e-04 1.15791049e+02] [-2.90118140e-01 9.56990820e-01 -1.86716821e-04 -9.39714921e+00] [-6.59587339e-04 -4.85006932e-06 9.99999782e-01 -2.85725435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.82, Y:-9.40, Z:-2.86 [[ 9.54941444e-01 2.96790225e-01 1.54922709e-03 1.15817671e+02] [-2.96789876e-01 9.54942701e-01 -4.55728380e-04 -9.40354704e+00] [-1.61467883e-03 -2.46009972e-05 9.99998696e-01 -2.85746652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.84, Y:-9.41, Z:-2.86 [[ 9.54056368e-01 2.99618714e-01 2.25242766e-03 1.15844497e+02] [-2.99617987e-01 9.54059026e-01 -6.61718873e-04 -9.40937433e+00] [-2.34721230e-03 -4.35507363e-05 9.99997244e-01 -2.85792465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:-9.42, Z:-2.86 [[ 9.53237221e-01 3.02203522e-01 3.43970628e-03 1.15870509e+02] [-3.02201844e-01 9.53243424e-01 -1.01000410e-03 -9.41503884e+00] [-3.58410419e-03 -7.67120808e-05 9.99993574e-01 -2.85874950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.90, Y:-9.42, Z:-2.86 [[ 9.52006111e-01 3.06058032e-01 3.58425124e-03 1.15898269e+02] [-3.06056239e-01 9.52012853e-01 -1.05188038e-03 -9.42035079e+00] [-3.73418969e-03 -9.55859077e-05 9.99993023e-01 -2.85945477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.93, Y:-9.43, Z:-2.86 [[ 9.51646071e-01 3.07176854e-01 3.48368868e-03 1.15926206e+02] [-3.07175170e-01 9.51652442e-01 -1.02166996e-03 -9.42692289e+00] [-3.62909420e-03 -9.78344546e-05 9.99993410e-01 -2.86006409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:-9.43, Z:-2.86 [[ 9.51464505e-01 3.07726419e-01 4.44364370e-03 1.15953602e+02] [-3.07723687e-01 9.51474873e-01 -1.30287546e-03 -9.43341469e+00] [-4.62894452e-03 -1.27774670e-04 9.99989278e-01 -2.86048217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:-9.44, Z:-2.86 [[ 9.52228541e-01 3.05319385e-01 6.39363209e-03 1.15981153e+02] [-3.05313682e-01 9.52249991e-01 -1.87375778e-03 -9.43904632e+00] [-6.66043067e-03 -1.67817711e-04 9.99977805e-01 -2.86114941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.01, Y:-9.45, Z:-2.86 [[ 9.53074793e-01 3.02673342e-01 6.10637859e-03 1.16007850e+02] [-3.02668089e-01 9.53094344e-01 -1.78897055e-03 -9.44681804e+00] [-6.36142859e-03 -1.43183196e-04 9.99979756e-01 -2.86201797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:-9.46, Z:-2.86 [[ 9.54068410e-01 2.99538104e-01 5.51298148e-03 1.16035665e+02] [-2.99533772e-01 9.54084332e-01 -1.61472270e-03 -9.45536382e+00] [-5.74352022e-03 -1.10768222e-04 9.99983500e-01 -2.86269530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:-9.46, Z:-2.86 [[ 9.55875110e-01 2.93732244e-01 4.91350232e-03 1.16061970e+02] [-2.93728726e-01 9.55887736e-01 -1.43923489e-03 -9.46356178e+00] [-5.11950630e-03 -6.75079634e-05 9.99986893e-01 -2.86362847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:116.09, Y:-9.47, Z:-2.86 [[ 9.56711700e-01 2.90999762e-01 4.67565728e-03 1.16088765e+02] [-2.90996544e-01 9.56723124e-01 -1.36932300e-03 -9.47234886e+00] [-4.87178211e-03 -5.05527745e-05 9.99988132e-01 -2.86486162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.12, Y:-9.49, Z:-2.87 [[ 9.58357581e-01 2.85537898e-01 4.34231969e-03 1.16116238e+02] [-2.85535070e-01 9.58367418e-01 -1.27083603e-03 -9.48577068e+00] [-4.52440956e-03 -2.19692105e-05 9.99989765e-01 -2.86514030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.14, Y:-9.50, Z:-2.87 [[ 9.58994883e-01 2.83390952e-01 4.28745818e-03 1.16143842e+02] [-2.83388176e-01 9.59004467e-01 -1.25444255e-03 -9.49584723e+00] [-4.46718922e-03 -1.20109716e-05 9.99990022e-01 -2.86527883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:-9.50, Z:-2.87 [[ 9.59430749e-01 2.81907333e-01 4.57097528e-03 1.16171303e+02] [-2.81904159e-01 9.59441637e-01 -1.33778016e-03 -9.50462985e+00] [-4.76271405e-03 -5.06952041e-06 9.99988658e-01 -2.86537542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.20, Y:-9.51, Z:-2.87 [[ 9.59676527e-01 2.81071379e-01 4.45458590e-03 1.16199960e+02] [-2.81068357e-01 9.59686866e-01 -1.30332997e-03 -9.51276518e+00] [-4.64133634e-03 -1.26795874e-06 9.99989229e-01 -2.86548650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.23, Y:-9.52, Z:-2.87 [[ 9.59530326e-01 2.81593516e-01 2.57783804e-03 1.16229188e+02] [-2.81592505e-01 9.59533789e-01 -7.54409308e-04 -9.51971958e+00] [-2.68595947e-03 -2.02126281e-06 9.99996393e-01 -2.86694098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.26, Y:-9.53, Z:-2.87 [[ 9.59253244e-01 2.82539525e-01 2.15182707e-03 1.16255356e+02] [-2.82538821e-01 9.59255658e-01 -6.30559853e-04 -9.52782886e+00] [-2.24231038e-03 -3.10810037e-06 9.99997486e-01 -2.86839605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:-9.54, Z:-2.87 [[ 9.58708311e-01 2.84384943e-01 1.89185777e-03 1.16281387e+02] [-2.84384403e-01 9.58710177e-01 -5.54164936e-04 -9.53980147e+00] [-1.97133947e-03 -6.73231367e-06 9.99998057e-01 -2.86843443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.31, Y:-9.55, Z:-2.87 [[ 9.58396978e-01 2.85433118e-01 1.77955190e-03 1.16308923e+02] [-2.85432643e-01 9.58398630e-01 -5.21245084e-04 -9.54950083e+00] [-1.85430072e-03 -8.38248901e-06 9.99998281e-01 -2.86885822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:-9.56, Z:-2.87 [[ 9.57747995e-01 2.87601991e-01 1.96794819e-03 1.16335554e+02] [-2.87601414e-01 9.57750017e-01 -5.76462239e-04 -9.55627544e+00] [-2.05059410e-03 -1.38791275e-05 9.99997897e-01 -2.87028020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:-9.56, Z:-2.87 [[ 9.57433220e-01 2.88649062e-01 1.83011446e-03 1.16363416e+02] [-2.88648565e-01 9.57434969e-01 -5.35827252e-04 -9.56278771e+00] [-1.90688161e-03 -1.52410996e-05 9.99998182e-01 -2.87149798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.39, Y:-9.57, Z:-2.87 [[ 9.57181218e-01 2.89486178e-01 1.36714539e-03 1.16391133e+02] [-2.89485901e-01 9.57182194e-01 -4.00514416e-04 -9.57019226e+00] [-1.42455061e-03 -1.24044394e-05 9.99998985e-01 -2.87246616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:-9.58, Z:-2.87 [[ 9.56991064e-01 2.90114901e-01 1.20351947e-03 1.16417623e+02] [-2.90114687e-01 9.56991820e-01 -3.52372785e-04 -9.58091787e+00] [-1.25398689e-03 -1.19410687e-05 9.99999214e-01 -2.87290073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:-9.59, Z:-2.87 [[ 9.57108317e-01 2.89728204e-01 1.11203817e-03 1.16443894e+02] [-2.89728021e-01 9.57108963e-01 -3.26132899e-04 -9.59015390e+00] [-1.15883160e-03 -1.00441083e-05 9.99999329e-01 -2.87312111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:-9.60, Z:-2.87 [[ 9.57435771e-01 2.88643127e-01 1.37492321e-03 1.16470368e+02] [-2.88642846e-01 9.57436758e-01 -4.02794339e-04 -9.60046379e+00] [-1.43266584e-03 -1.12120407e-05 9.99998974e-01 -2.87342495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.50, Y:-9.61, Z:-2.87 [[ 9.57686809e-01 2.87806440e-01 1.85189021e-03 1.16498401e+02] [-2.87805932e-01 9.57688599e-01 -5.41145730e-04 -9.60994312e+00] [-1.92927937e-03 -1.47368590e-05 9.99998139e-01 -2.87393090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:-9.62, Z:-2.87 [[ 9.57949112e-01 2.86926238e-01 2.61405792e-03 1.16526798e+02] [-2.86925224e-01 9.57952678e-01 -7.63031524e-04 -9.62009332e+00] [-2.72307755e-03 -1.90937834e-05 9.99996292e-01 -2.87468228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:-9.63, Z:-2.87 [[ 9.58128580e-01 2.86320573e-01 3.18637981e-03 1.16554177e+02] [-2.86319063e-01 9.58133878e-01 -9.30343088e-04 -9.62988035e+00] [-3.31935481e-03 -2.09329767e-05 9.99994491e-01 -2.87484841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.58, Y:-9.64, Z:-2.87 [[ 9.58057089e-01 2.86565605e-01 2.60164156e-03 1.16583325e+02] [-2.86564601e-01 9.58060621e-01 -7.58847503e-04 -9.64043241e+00] [-2.70998993e-03 -1.85191475e-05 9.99996328e-01 -2.87463504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.61, Y:-9.65, Z:-2.88 [[ 9.57793323e-01 2.87446332e-01 2.56044855e-03 1.16612022e+02] [-2.87445365e-01 9.57796745e-01 -7.46175365e-04 -9.65028385e+00] [-2.66687466e-03 -2.13072843e-05 9.99996444e-01 -2.87535323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:-9.66, Z:-2.88 [[ 9.57104082e-01 2.89726550e-01 3.20975034e-03 1.16639698e+02] [-2.89725037e-01 9.57109463e-01 -9.36874357e-04 -9.66138224e+00] [-3.34351981e-03 -3.32587661e-05 9.99994410e-01 -2.87529889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.67, Y:-9.67, Z:-2.88 [[ 9.56626954e-01 2.91299375e-01 3.08949517e-03 1.16667617e+02] [-2.91297979e-01 9.56631942e-01 -9.02580036e-04 -9.66990190e+00] [-3.21843077e-03 -3.65313099e-05 9.99994820e-01 -2.87555573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:-9.68, Z:-2.88 [[ 9.55956437e-01 2.93491213e-01 3.19342370e-03 1.16695671e+02] [-2.93489734e-01 9.55961770e-01 -9.32874873e-04 -9.67773347e+00] [-3.32658155e-03 -4.54493325e-05 9.99994466e-01 -2.87604556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.72, Y:-9.68, Z:-2.88 [[ 9.54290898e-01 2.98838658e-01 4.93334877e-03 1.16724211e+02] [-2.98835199e-01 9.54303645e-01 -1.44109579e-03 -9.68271701e+00] [-5.13856784e-03 -9.90336627e-05 9.99986793e-01 -2.87637907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:-9.69, Z:-2.88 [[ 9.53456527e-01 3.01460326e-01 6.50558337e-03 1.16751082e+02] [-3.01454376e-01 9.53478710e-01 -1.89986513e-03 -9.69001517e+00] [-6.77566920e-03 -1.49697763e-04 9.99977034e-01 -2.87705043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.78, Y:-9.70, Z:-2.88 [[ 9.52676389e-01 3.03902102e-01 7.15607575e-03 1.16780039e+02] [-3.03894984e-01 9.52703248e-01 -2.08828600e-03 -9.69841969e+00] [-7.45225111e-03 -1.85234761e-04 9.99972214e-01 -2.87677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.81, Y:-9.70, Z:-2.88 [[ 9.51512349e-01 3.07529651e-01 7.05428480e-03 1.16808816e+02] [-3.07522830e-01 9.51538475e-01 -2.05898391e-03 -9.70421086e+00] [-7.34562201e-03 -2.10205004e-04 9.99972998e-01 -2.87716764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:-9.71, Z:-2.88 [[ 9.51274202e-01 3.08265364e-01 7.06099365e-03 1.16837737e+02] [-3.08258553e-01 9.51300383e-01 -2.06055452e-03 -9.71091411e+00] [-7.35232355e-03 -2.16459327e-04 9.99972948e-01 -2.87878636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.87, Y:-9.72, Z:-2.88 [[ 9.51284508e-01 3.08233562e-01 7.06092209e-03 1.16865915e+02] [-3.08226749e-01 9.51310688e-01 -2.06079982e-03 -9.71904789e+00] [-7.35233831e-03 -2.15958119e-04 9.99972948e-01 -2.87947222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.89, Y:-9.72, Z:-2.88 [[ 9.51691850e-01 3.06998604e-01 5.87201014e-03 1.16894528e+02] [-3.06993867e-01 9.51709949e-01 -1.71392911e-03 -9.72397431e+00] [-6.11462432e-03 -1.71538738e-04 9.99981291e-01 -2.88154610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.92, Y:-9.73, Z:-2.88 [[ 9.52386598e-01 3.04855841e-01 4.76279879e-03 1.16922228e+02] [-3.04852698e-01 9.52398499e-01 -1.39017477e-03 -9.73065616e+00] [-4.95988532e-03 -1.27968239e-04 9.99987692e-01 -2.88261473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:-9.74, Z:-2.88 [[ 9.53311776e-01 3.01955944e-01 4.38924474e-03 1.16950328e+02] [-3.01953244e-01 9.53321875e-01 -1.28102621e-03 -9.73804767e+00] [-4.57117651e-03 -1.04129319e-04 9.99989547e-01 -2.88345192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.98, Y:-9.75, Z:-2.88 [[ 9.55632102e-01 2.94518433e-01 5.11650761e-03 1.16978216e+02] [-2.94514664e-01 9.55645795e-01 -1.49216934e-03 -9.74789690e+00] [-5.32904036e-03 -8.09215993e-05 9.99985797e-01 -2.88417140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:-9.76, Z:-2.88 [[ 9.56922546e-01 2.90302332e-01 4.87813097e-03 1.17005166e+02] [-2.90298849e-01 9.56934979e-01 -1.42304877e-03 -9.75641692e+00] [-5.08116853e-03 -5.43683524e-05 9.99987089e-01 -2.88400313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:-9.76, Z:-2.88 [[ 9.58203404e-01 2.86050658e-01 4.61061366e-03 1.17033862e+02] [-2.86047499e-01 9.58214496e-01 -1.34465301e-03 -9.76431783e+00] [-4.80259572e-03 -3.04034136e-05 9.99988467e-01 -2.88443784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:-9.77, Z:-2.88 [[ 9.60368859e-01 2.78701947e-01 4.10844850e-03 1.17061982e+02] [-2.78699373e-01 9.60377647e-01 -1.19792289e-03 -9.77226839e+00] [-4.27952554e-03 5.42581958e-06 9.99990843e-01 -2.88468713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.09, Y:-9.78, Z:-2.89 [[ 9.61285945e-01 2.75521096e-01 4.17828358e-03 1.17090862e+02] [-2.75518405e-01 9.61295025e-01 -1.21799379e-03 -9.78232784e+00] [-4.35214621e-03 1.96462875e-05 9.99990529e-01 -2.88566430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:-9.79, Z:-2.89 [[ 9.62580720e-01 2.70938153e-01 5.55647591e-03 1.17120008e+02] [-2.70933319e-01 9.62596756e-01 -1.61931130e-03 -9.79428539e+00] [-5.78737890e-03 5.32833713e-05 9.99983252e-01 -2.88518506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.15, Y:-9.80, Z:-2.89 [[ 9.62948863e-01 2.69626129e-01 5.58915003e-03 1.17150885e+02] [-2.69621230e-01 9.62965081e-01 -1.62632773e-03 -9.80483291e+00] [-5.82065676e-03 5.91169295e-05 9.99983058e-01 -2.88552553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.18, Y:-9.82, Z:-2.89 [[ 9.63206127e-01 2.68711863e-01 5.28132322e-03 1.17181100e+02] [-2.68707472e-01 9.63220604e-01 -1.53728808e-03 -9.81520862e+00] [-5.50016688e-03 6.15942877e-05 9.99984872e-01 -2.88656075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:-9.83, Z:-2.89 [[ 9.63303736e-01 2.68360100e-01 5.36374357e-03 1.17211886e+02] [-2.68355558e-01 9.63318666e-01 -1.56261761e-03 -9.82557594e+00] [-5.58633852e-03 6.58849799e-05 9.99984394e-01 -2.88776827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.24, Y:-9.83, Z:-2.89 [[ 9.62942318e-01 2.69636206e-01 6.19751042e-03 1.17241959e+02] [-2.69630157e-01 9.62962259e-01 -1.80751830e-03 -9.83453663e+00] [-6.45534101e-03 6.95001572e-05 9.99979162e-01 -2.88770273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.27, Y:-9.84, Z:-2.89 [[ 9.62497375e-01 2.71210031e-01 6.62732666e-03 1.17272572e+02] [-2.71203143e-01 9.62520189e-01 -1.93404740e-03 -9.84340528e+00] [-6.90346877e-03 6.41637269e-05 9.99976169e-01 -2.88820435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:-9.85, Z:-2.89 [[ 9.61336843e-01 2.75280330e-01 7.22595581e-03 1.17302691e+02] [-2.75272226e-01 9.61363999e-01 -2.11276597e-03 -9.85211398e+00] [-7.52837668e-03 4.19748285e-05 9.99971660e-01 -2.88887725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.33, Y:-9.86, Z:-2.89 [[ 9.60557078e-01 2.77995378e-01 6.97634851e-03 1.17331862e+02] [-2.77987893e-01 9.60582412e-01 -2.04014654e-03 -9.86172957e+00] [-7.26850898e-03 2.03367745e-05 9.99973584e-01 -2.88936207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.36, Y:-9.87, Z:-2.89 [[ 9.59015588e-01 2.83290818e-01 5.95098510e-03 1.17360180e+02] [-2.83285470e-01 9.59034052e-01 -1.74074538e-03 -9.87150034e+00] [-6.20033453e-03 -1.64256554e-05 9.99980778e-01 -2.88904277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:-9.88, Z:-2.89 [[ 9.58122923e-01 2.86289229e-01 6.24033575e-03 1.17389660e+02] [-2.86283414e-01 9.58143244e-01 -1.82508765e-03 -9.87887306e+00] [-6.50163847e-03 -3.78463070e-05 9.99978863e-01 -2.89033043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.42, Y:-9.89, Z:-2.89 [[ 9.57283526e-01 2.89089120e-01 5.97759115e-03 1.17419791e+02] [-2.89083839e-01 9.57302187e-01 -1.74824372e-03 -9.88546571e+00] [-6.22775932e-03 -5.44600843e-05 9.99980606e-01 -2.89126854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.45, Y:-9.89, Z:-2.89 [[ 9.56543092e-01 2.91540590e-01 5.42192463e-03 1.17448220e+02] [-2.91536281e-01 9.56558456e-01 -1.58638241e-03 -9.89187535e+00] [-5.64888272e-03 -6.32446011e-05 9.99984043e-01 -2.89199627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:-9.90, Z:-2.89 [[ 9.55355159e-01 2.95430709e-01 4.14927229e-03 1.17475770e+02] [-2.95428220e-01 9.55364167e-01 -1.21429098e-03 -9.89959633e+00] [-4.32280491e-03 -6.57329744e-05 9.99990654e-01 -2.89214126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.50, Y:-9.91, Z:-2.89 [[ 9.54869226e-01 2.97001374e-01 3.86588738e-03 1.17504721e+02] [-2.96999229e-01 9.54877049e-01 -1.13077390e-03 -9.90687057e+00] [-4.02728854e-03 -6.84243707e-05 9.99991888e-01 -2.89233643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:-9.91, Z:-2.89 [[ 9.54375775e-01 2.98583134e-01 3.87201860e-03 1.17531826e+02] [-2.98580993e-01 9.54383626e-01 -1.13317607e-03 -9.91244142e+00] [-4.03373841e-03 -7.46353726e-05 9.99991862e-01 -2.89360708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.56, Y:-9.92, Z:-2.89 [[ 9.53479928e-01 3.01438930e-01 3.25553821e-03 1.17560819e+02] [-3.01437434e-01 9.53485483e-01 -9.52543560e-04 -9.91539291e+00] [-3.39124214e-03 -7.31099198e-05 9.99994247e-01 -2.89487063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:-9.92, Z:-2.90 [[ 9.53119593e-01 3.02575300e-01 3.35108018e-03 1.17588868e+02] [-3.02573722e-01 9.53125480e-01 -9.80533611e-04 -9.92003904e+00] [-3.49068516e-03 -7.93830076e-05 9.99993904e-01 -2.89619049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:-9.92, Z:-2.90 [[ 9.52905550e-01 3.03235573e-01 4.38181255e-03 1.17617605e+02] [-3.03232884e-01 9.52915618e-01 -1.28162864e-03 -9.92222775e+00] [-4.56413301e-03 -1.07438610e-04 9.99989579e-01 -2.89741698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.65, Y:-9.93, Z:-2.90 [[ 9.53083535e-01 3.02678839e-01 4.15885214e-03 1.17645309e+02] [-3.02676414e-01 9.53092603e-01 -1.21574406e-03 -9.92874246e+00] [-4.33175121e-03 -1.00080807e-04 9.99990613e-01 -2.89843178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.67, Y:-9.94, Z:-2.90 [[ 9.53342206e-01 3.01865000e-01 4.01984631e-03 1.17672634e+02] [-3.01862726e-01 9.53350677e-01 -1.17533685e-03 -9.93519327e+00] [-4.18711625e-03 -9.29435414e-05 9.99991230e-01 -2.89895937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.70, Y:-9.94, Z:-2.90 [[ 9.53797794e-01 3.00402174e-01 5.31994802e-03 1.17701584e+02] [-3.00398176e-01 9.53812623e-01 -1.55410142e-03 -9.94044435e+00] [-5.54108902e-03 -1.15804173e-04 9.99984641e-01 -2.89773672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:-9.95, Z:-2.90 [[ 9.54109205e-01 2.99390635e-01 6.39318078e-03 1.17730346e+02] [-2.99384842e-01 9.54130615e-01 -1.86711799e-03 -9.94585078e+00] [-6.65892715e-03 -1.32586956e-04 9.99977820e-01 -2.89691103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:-9.95, Z:-2.90 [[ 9.54408564e-01 2.98413130e-01 7.34148803e-03 1.17758250e+02] [-2.98405465e-01 9.54436788e-01 -2.14370858e-03 -9.95008196e+00] [-7.64669704e-03 -1.44766317e-04 9.99970753e-01 -2.89678596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.79, Y:-9.95, Z:-2.90 [[ 9.55335133e-01 2.95439570e-01 7.08834037e-03 1.17787520e+02] [-2.95432344e-01 9.55361422e-01 -2.06953983e-03 -9.94971877e+00] [-7.38335089e-03 -1.17020901e-04 9.99972736e-01 -2.89733650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:-9.96, Z:-2.90 [[ 9.55910390e-01 2.93594772e-01 6.11845174e-03 1.17815487e+02] [-2.93589354e-01 9.55929967e-01 -1.78577830e-03 -9.95506355e+00] [-6.37310655e-03 -8.92682639e-05 9.99979688e-01 -2.89850752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:-9.96, Z:-2.90 [[ 9.57445689e-01 2.88573071e-01 4.83076759e-03 1.17843363e+02] [-2.88569629e-01 9.57457874e-01 -1.41017047e-03 -9.95988485e+00] [-5.03219369e-03 -4.38511704e-05 9.99987337e-01 -2.90057888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:-9.97, Z:-2.90 [[ 9.58382785e-01 2.85451827e-01 4.43752389e-03 1.17871576e+02] [-2.85448891e-01 9.58393058e-01 -1.29496559e-03 -9.96562455e+00] [-4.62254239e-03 -2.56135455e-05 9.99989316e-01 -2.90131669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.90, Y:-9.97, Z:-2.90 [[ 9.59265356e-01 2.82477115e-01 4.08129974e-03 1.17899317e+02] [-2.82474603e-01 9.59274038e-01 -1.19112901e-03 -9.97090580e+00] [-4.25155157e-03 -1.02547329e-05 9.99990962e-01 -2.90217395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.93, Y:-9.97, Z:-2.90 [[ 9.60758401e-01 2.77365946e-01 3.38048555e-03 1.17927148e+02] [-2.77364191e-01 9.60764348e-01 -9.86828887e-04 -9.97317686e+00] [-3.52156273e-03 1.04785037e-05 9.99993799e-01 -2.90370919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:-9.98, Z:-2.90 [[ 9.61369257e-01 2.75244129e-01 3.13390576e-03 1.17954958e+02] [-2.75242610e-01 9.61374365e-01 -9.14819409e-04 -9.97904141e+00] [-3.26465533e-03 1.68948548e-05 9.99994671e-01 -2.90415122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:-9.98, Z:-2.90 [[ 9.62222529e-01 2.72246956e-01 3.06594699e-03 1.17982691e+02] [-2.72245487e-01 9.62227413e-01 -8.94780277e-04 -9.98388026e+00] [-3.19373944e-03 2.62875102e-05 9.99994900e-01 -2.90495497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.01, Y:-9.99, Z:-2.91 [[ 9.62715726e-01 2.70494882e-01 3.30912605e-03 1.18009509e+02] [-2.70493162e-01 9.62721412e-01 -9.65071853e-04 -9.98963935e+00] [-3.44681350e-03 3.39938800e-05 9.99994059e-01 -2.90555425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:-10.00, Z:-2.91 [[ 9.63199444e-01 2.68765896e-01 3.42401605e-03 1.18037041e+02] [-2.68764044e-01 9.63205529e-01 -9.98580955e-04 -9.99576273e+00] [-3.56641570e-03 4.15802212e-05 9.99993639e-01 -2.90622448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.06, Y:-10.00, Z:-2.91 [[ 9.64006529e-01 2.65862098e-01 2.95909522e-03 1.18064884e+02] [-2.65860702e-01 9.64011070e-01 -8.62716077e-04 -1.00007039e+01] [-3.08196405e-03 4.49567986e-05 9.99995250e-01 -2.90691150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.09, Y:-10.01, Z:-2.91 [[ 9.64198069e-01 2.65158881e-01 3.58498204e-03 1.18092043e+02] [-2.65156829e-01 9.64204732e-01 -1.04482114e-03 -1.00060422e+01] [-3.73370025e-03 5.68320575e-05 9.99993028e-01 -2.90743302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:-10.01, Z:-2.91 [[ 9.64109756e-01 2.65475076e-01 3.91948158e-03 1.18120078e+02] [-2.65472627e-01 9.64117721e-01 -1.14184345e-03 -1.00107280e+01] [-4.08197263e-03 6.03473419e-05 9.99991667e-01 -2.90771827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:-10.01, Z:-2.91 [[ 9.63150128e-01 2.68943729e-01 3.33185778e-03 1.18147743e+02] [-2.68941977e-01 9.63155890e-01 -9.71532218e-04 -1.00135940e+01] [-3.47038595e-03 3.96549612e-05 9.99993977e-01 -2.90879315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:-10.02, Z:-2.91 [[ 9.62483254e-01 2.71322488e-01 3.17683081e-03 1.18173905e+02] [-2.71320912e-01 9.62488497e-01 -9.25329106e-04 -1.00199035e+01] [-3.30872571e-03 2.86731371e-05 9.99994526e-01 -2.90895166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.20, Y:-10.02, Z:-2.91 [[ 9.61212407e-01 2.75787263e-01 3.47782470e-03 1.18202589e+02] [-2.75785405e-01 9.61218698e-01 -1.01235479e-03 -1.00224500e+01] [-3.62214468e-03 1.39546892e-05 9.99993440e-01 -2.90820205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.23, Y:-10.03, Z:-2.91 [[ 9.60791963e-01 2.77253295e-01 3.06818507e-03 1.18230790e+02] [-2.77251857e-01 9.60796862e-01 -8.93094425e-04 -1.00267881e+01] [-3.19551596e-03 7.41793720e-06 9.99994894e-01 -2.90898452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.26, Y:-10.03, Z:-2.91 [[ 9.60570788e-01 2.78019756e-01 2.96261598e-03 1.18258979e+02] [-2.78018419e-01 9.60575356e-01 -8.62200036e-04 -1.00315540e+01] [-3.08552455e-03 4.54235586e-06 9.99995240e-01 -2.90986921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.29, Y:-10.04, Z:-2.91 [[ 9.60583103e-01 2.77965112e-01 3.93693932e-03 1.18285925e+02] [-2.77962753e-01 9.60591170e-01 -1.14510589e-03 -1.00357327e+01] [-4.10008863e-03 5.64687876e-06 9.99991595e-01 -2.91049137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.31, Y:-10.04, Z:-2.91 [[ 9.61315527e-01 2.75394462e-01 5.50889867e-03 1.18313499e+02] [-2.75389804e-01 9.61331311e-01 -1.60185702e-03 -1.00383692e+01] [-5.73701934e-03 2.27955020e-05 9.99983543e-01 -2.91091418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.34, Y:-10.04, Z:-2.91 [[ 9.62018632e-01 2.72933044e-01 5.26358759e-03 1.18340413e+02] [-2.72928764e-01 9.62033031e-01 -1.52885127e-03 -1.00446960e+01] [-5.48101915e-03 3.41989506e-05 9.99984979e-01 -2.91214337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.37, Y:-10.05, Z:-2.91 [[ 9.62872063e-01 2.69908593e-01 5.17113661e-03 1.18367176e+02] [-2.69904421e-01 9.62885948e-01 -1.50166774e-03 -1.00523548e+01] [-5.38452781e-03 5.02012856e-05 9.99985502e-01 -2.91292808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.39, Y:-10.06, Z:-2.91 [[ 9.64461790e-01 2.64143736e-01 6.44526267e-03 1.18393821e+02] [-2.64137131e-01 9.64483321e-01 -1.87074459e-03 -1.00604661e+01] [-6.71049381e-03 1.01828485e-04 9.99977479e-01 -2.91342454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.42, Y:-10.07, Z:-2.91 [[ 9.65070943e-01 2.61901129e-01 6.77306204e-03 1.18420593e+02] [-2.61893784e-01 9.65094702e-01 -1.96527462e-03 -1.00680922e+01] [-7.05135393e-03 1.22806584e-04 9.99975131e-01 -2.91392134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:-10.07, Z:-2.91 [[ 9.65780913e-01 2.59268077e-01 6.87701290e-03 1.18446711e+02] [-2.59260437e-01 9.65805386e-01 -1.99559094e-03 -1.00742665e+01] [-7.15924912e-03 1.44366274e-04 9.99974362e-01 -2.91424276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:-10.08, Z:-2.91 [[ 9.65940719e-01 2.58669428e-01 6.97532382e-03 1.18473824e+02] [-2.58661564e-01 9.65965892e-01 -2.02244546e-03 -1.00814151e+01] [-7.26106971e-03 1.49314247e-04 9.99973627e-01 -2.91481049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.50, Y:-10.09, Z:-2.92 [[ 9.65959718e-01 2.58594247e-01 7.13017402e-03 1.18499845e+02] [-2.58586032e-01 9.65986021e-01 -2.06693330e-03 -1.00887444e+01] [-7.42214549e-03 1.52810901e-04 9.99972444e-01 -2.91513562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:-10.10, Z:-2.92 [[ 9.65824128e-01 2.59128299e-01 6.02322644e-03 1.18526777e+02] [-2.59122450e-01 9.65842901e-01 -1.74561295e-03 -1.00963461e+01] [-6.26982821e-03 1.25201911e-04 9.99980337e-01 -2.91674610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:-10.10, Z:-2.92 [[ 9.65607838e-01 2.59951879e-01 5.15012976e-03 1.18553753e+02] [-2.59947615e-01 9.65621567e-01 -1.49241923e-03 -1.01046000e+01] [-5.36103355e-03 1.02327751e-04 9.99985624e-01 -2.91789827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.58, Y:-10.11, Z:-2.92 [[ 9.65301620e-01 2.61091524e-01 4.89890236e-03 1.18580003e+02] [-2.61087681e-01 9.65314046e-01 -1.41954499e-03 -1.01122177e+01] [-5.09961043e-03 9.12460193e-05 9.99986993e-01 -2.91920228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.61, Y:-10.12, Z:-2.92 [[ 9.64354462e-01 2.64555884e-01 5.53670735e-03 1.18607500e+02] [-2.64551038e-01 9.64370353e-01 -1.60332105e-03 -1.01187246e+01] [-5.76360444e-03 8.14281397e-05 9.99983387e-01 -2.92014078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.63, Y:-10.13, Z:-2.92 [[ 9.64370368e-01 2.64497895e-01 5.53687952e-03 1.18634905e+02] [-2.64493051e-01 9.64386259e-01 -1.60272596e-03 -1.01265177e+01] [-5.76360817e-03 8.11552691e-05 9.99983387e-01 -2.92080700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.66, Y:-10.13, Z:-2.92 [[ 9.63807753e-01 2.66541568e-01 5.49610394e-03 1.18661710e+02] [-2.66536829e-01 9.63823422e-01 -1.59081819e-03 -1.01330337e+01] [-5.72129288e-03 6.83287880e-05 9.99983631e-01 -2.92169421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.69, Y:-10.14, Z:-2.92 [[ 9.63263818e-01 2.68511740e-01 4.92564183e-03 1.18689475e+02] [-2.68507961e-01 9.63276410e-01 -1.42549255e-03 -1.01393826e+01] [-5.12751607e-03 5.05513479e-05 9.99986853e-01 -2.92266875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:-10.14, Z:-2.92 [[ 9.62186855e-01 2.72360797e-01 4.00645801e-03 1.18716436e+02] [-2.72358329e-01 9.62195196e-01 -1.15973127e-03 -1.01435847e+01] [-4.17085998e-03 2.46859722e-05 9.99991302e-01 -2.92352333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:-10.15, Z:-2.92 [[ 9.61784603e-01 2.73770040e-01 4.51036874e-03 1.18743739e+02] [-2.73766932e-01 9.61795178e-01 -1.30468561e-03 -1.01497820e+01] [-4.69523474e-03 2.00367232e-05 9.99988977e-01 -2.92460283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.77, Y:-10.16, Z:-2.93 [[ 9.61287956e-01 2.75499337e-01 5.05764980e-03 1.18770555e+02] [-2.75495456e-01 9.61301261e-01 -1.46239676e-03 -1.01564070e+01] [-5.26481447e-03 1.24248562e-05 9.99986141e-01 -2.92540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.80, Y:-10.16, Z:-2.93 [[ 9.61262334e-01 2.75586906e-01 5.15580546e-03 1.18796330e+02] [-2.75582875e-01 9.61276161e-01 -1.49055261e-03 -1.01627064e+01] [-5.36692966e-03 1.19603923e-05 9.99985598e-01 -2.92559029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.82, Y:-10.17, Z:-2.93 [[ 9.61390642e-01 2.75134870e-01 5.36994223e-03 1.18823321e+02] [-2.75130495e-01 9.61405639e-01 -1.55167731e-03 -1.01685363e+01] [-5.58961328e-03 1.43331844e-05 9.99984378e-01 -2.92589127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:-10.18, Z:-2.93 [[ 9.61745855e-01 2.73866936e-01 6.46621599e-03 1.18849450e+02] [-2.73860568e-01 9.61767592e-01 -1.86775877e-03 -1.01750027e+01] [-6.73051436e-03 2.54676715e-05 9.99977350e-01 -2.92700411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:-10.18, Z:-2.93 [[ 9.62885880e-01 2.69799269e-01 7.69008999e-03 1.18876279e+02] [-2.69790143e-01 9.62916586e-01 -2.21993177e-03 -1.01845844e+01] [-8.00385117e-03 6.28304713e-05 9.99967967e-01 -2.92790973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:-10.19, Z:-2.93 [[ 9.63551283e-01 2.67393554e-01 8.34342941e-03 1.18901967e+02] [-2.67382727e-01 9.63587401e-01 -2.40788624e-03 -1.01927711e+01] [-8.68347672e-03 8.92329648e-05 9.99962294e-01 -2.92854006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.93, Y:-10.20, Z:-2.93 [[ 9.64226670e-01 2.64933233e-01 8.79271286e-03 1.18929227e+02] [-2.64921116e-01 9.64266752e-01 -2.53644793e-03 -1.02009546e+01] [-9.15051002e-03 1.16335431e-04 9.99958126e-01 -2.92943193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.95, Y:-10.21, Z:-2.93 [[ 9.65700418e-01 2.59498313e-01 9.12845651e-03 1.18953996e+02] [-2.59485017e-01 9.65743545e-01 -2.63266046e-03 -1.02122348e+01] [-9.49891890e-03 1.73663613e-04 9.99954869e-01 -2.93082329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:-10.22, Z:-2.93 [[ 9.66370905e-01 2.56995710e-01 8.97096377e-03 1.18980342e+02] [-2.56982770e-01 9.66412524e-01 -2.58622463e-03 -1.02231084e+01] [-9.33430038e-03 1.93869120e-04 9.99956416e-01 -2.93107141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.01, Y:-10.24, Z:-2.93 [[ 9.67202438e-01 2.53843921e-01 9.09434701e-03 1.19005852e+02] [-2.53830492e-01 9.67245167e-01 -2.62086442e-03 -1.02352031e+01] [-9.46175369e-03 2.26483881e-04 9.99955211e-01 -2.93163484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.03, Y:-10.24, Z:-2.93 [[ 9.67295925e-01 2.53485602e-01 9.14564419e-03 1.19031801e+02] [-2.53472009e-01 9.67339132e-01 -2.63520107e-03 -1.02449742e+01] [-9.51492504e-03 2.30854449e-04 9.99954705e-01 -2.93194500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.06, Y:-10.25, Z:-2.93 [[ 9.67135977e-01 2.54115663e-01 8.55752957e-03 1.19057852e+02] [-2.54103794e-01 9.67173814e-01 -2.46499394e-03 -1.02537502e+01] [-8.90301208e-03 2.09483589e-04 9.99960345e-01 -2.93273457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:-10.26, Z:-2.93 [[ 9.66285892e-01 2.57386405e-01 6.61920569e-03 1.19084670e+02] [-2.57379374e-01 9.66308553e-01 -1.90757129e-03 -1.02603301e+01] [-6.88717799e-03 1.39612211e-04 9.99976273e-01 -2.93400545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.11, Y:-10.27, Z:-2.94 [[ 9.65671173e-01 2.59676083e-01 6.89331314e-03 1.19111214e+02] [-2.59668529e-01 9.65695768e-01 -1.98477477e-03 -1.02678544e+01] [-7.17224186e-03 1.26663297e-04 9.99974271e-01 -2.93580600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.14, Y:-10.28, Z:-2.94 [[ 9.64884282e-01 2.62578591e-01 7.12775791e-03 1.19137734e+02] [-2.62570598e-01 9.64910603e-01 -2.05165755e-03 -1.02770894e+01] [-7.41637053e-03 1.08072463e-04 9.99972493e-01 -2.93667317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:-10.29, Z:-2.94 [[ 9.64050418e-01 2.65634437e-01 6.71841308e-03 1.19163517e+02] [-2.65627407e-01 9.64073825e-01 -1.93415154e-03 -1.02869102e+01] [-6.99082345e-03 8.00249527e-05 9.99975561e-01 -2.93727750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-10.30, Z:-2.94 [[ 9.62564737e-01 2.70985939e-01 5.97897333e-03 1.19190141e+02] [-2.70980483e-01 9.62583305e-01 -1.72001412e-03 -1.02966205e+01] [-6.22135955e-03 3.54398583e-05 9.99980647e-01 -2.93867268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:-10.30, Z:-2.94 [[ 9.62026225e-01 2.72899423e-01 5.60782096e-03 1.19216492e+02] [-2.72894656e-01 9.62042569e-01 -1.61312567e-03 -1.03040500e+01] [-5.83518355e-03 2.15248257e-05 9.99982975e-01 -2.93943689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:-10.31, Z:-2.94 [[ 9.61187932e-01 2.75853296e-01 4.76633555e-03 1.19242695e+02] [-2.75849885e-01 9.61199750e-01 -1.37180756e-03 -1.03098284e+01] [-4.95981818e-03 3.77176077e-06 9.99987700e-01 -2.94055374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:-10.32, Z:-2.94 [[ 9.60927318e-01 2.76752700e-01 5.16067955e-03 1.19270197e+02] [-2.76748725e-01 9.60941176e-01 -1.48328805e-03 -1.03171215e+01] [-5.36961344e-03 -2.87948036e-06 9.99985584e-01 -2.94130008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.30, Y:-10.33, Z:-2.94 [[ 9.60860338e-01 2.76954694e-01 6.59605589e-03 1.19296511e+02] [-2.76948211e-01 9.60882978e-01 -1.89486321e-03 -1.03254702e+01] [-6.86282908e-03 -6.06697827e-06 9.99976450e-01 -2.94171167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:-10.34, Z:-2.94 [[ 9.61158657e-01 2.75838794e-01 9.32714629e-03 1.19321410e+02] [-2.75825793e-01 9.61203912e-01 -2.67810206e-03 -1.03364377e+01] [-9.70401394e-03 1.41345761e-06 9.99952915e-01 -2.94159624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:-10.34, Z:-2.94 [[ 9.61587499e-01 2.74328148e-01 9.67208186e-03 1.19348079e+02] [-2.74314103e-01 9.61636141e-01 -2.77596740e-03 -1.03449937e+01] [-1.00625495e-02 1.61470846e-05 9.99949371e-01 -2.94178023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.37, Y:-10.35, Z:-2.94 [[ 9.62147654e-01 2.72347110e-01 9.94702521e-03 1.19374745e+02] [-2.72332157e-01 9.62199070e-01 -2.85407551e-03 -1.03530346e+01] [-1.03483176e-02 3.71472261e-05 9.99946454e-01 -2.94262488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:-10.36, Z:-2.94 [[ 9.62762069e-01 2.70162096e-01 1.00816669e-02 1.19401459e+02] [-2.70146624e-01 9.62814851e-01 -2.89193321e-03 -1.03607737e+01] [-1.04880694e-02 6.07153196e-05 9.99944997e-01 -2.94319908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.43, Y:-10.37, Z:-2.95 [[ 9.63677942e-01 2.66875932e-01 1.01025032e-02 1.19427860e+02] [-2.66860226e-01 9.63730890e-01 -2.89692537e-03 -1.03699545e+01] [-1.05092140e-02 9.57468013e-05 9.99944772e-01 -2.94526869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:-10.38, Z:-2.95 [[ 9.63973419e-01 2.65808831e-01 1.00455043e-02 1.19453918e+02] [-2.65793250e-01 9.64025754e-01 -2.87990322e-03 -1.03795795e+01] [-1.04496285e-02 1.06122921e-04 9.99945396e-01 -2.94640865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.48, Y:-10.39, Z:-2.95 [[ 9.64085070e-01 2.65404373e-01 1.00248092e-02 1.19479252e+02] [-2.65388839e-01 9.64137183e-01 -2.87349216e-03 -1.03919577e+01] [-1.04279287e-02 1.09818408e-04 9.99945622e-01 -2.94678387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:-10.40, Z:-2.95 [[ 9.63973095e-01 2.65828195e-01 9.55214913e-03 1.19506202e+02] [-2.65814120e-01 9.64020415e-01 -2.73735449e-03 -1.03993157e+01] [-9.93613278e-03 9.96399666e-05 9.99950630e-01 -2.94746445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.53, Y:-10.40, Z:-2.95 [[ 9.63328055e-01 2.68184038e-01 8.73952438e-03 1.19533164e+02] [-2.68172359e-01 9.63367696e-01 -2.50374522e-03 -1.04044779e+01] [-9.09083997e-03 6.82291384e-05 9.99958675e-01 -2.94847921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:-10.41, Z:-2.95 [[ 9.62888857e-01 2.69769688e-01 8.32852456e-03 1.19560141e+02] [-2.69759143e-01 9.62924874e-01 -2.38571010e-03 -1.04116657e+01] [-8.66333573e-03 5.04780206e-05 9.99962471e-01 -2.94915700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.59, Y:-10.42, Z:-2.95 [[ 9.62312433e-01 2.71827589e-01 8.03387188e-03 1.19586273e+02] [-2.71817852e-01 9.62345967e-01 -2.30091571e-03 -1.04184599e+01] [-8.35681658e-03 3.04499951e-05 9.99965081e-01 -2.94976137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.61, Y:-10.43, Z:-2.95 [[ 9.61140599e-01 2.75952672e-01 7.67277664e-03 1.19613750e+02] [-2.75943929e-01 9.61171225e-01 -2.19667424e-03 -1.04252518e+01] [-7.98103025e-03 -5.94333733e-06 9.99968151e-01 -2.95083283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:-10.43, Z:-2.95 [[ 9.60729573e-01 2.77398486e-01 6.98333621e-03 1.19640992e+02] [-2.77391285e-01 9.60754953e-01 -1.99890357e-03 -1.04327649e+01] [-7.26376768e-03 -1.67108316e-05 9.99973618e-01 -2.95155808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.67, Y:-10.44, Z:-2.95 [[ 9.60542082e-01 2.78052450e-01 6.76338469e-03 1.19667435e+02] [-2.78045713e-01 9.60565893e-01 -1.93566926e-03 -1.04397801e+01] [-7.03489423e-03 -2.12383426e-05 9.99975255e-01 -2.95230015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.69, Y:-10.45, Z:-2.95 [[ 9.60674787e-01 2.77573543e-01 7.54201890e-03 1.19694742e+02] [-2.77565159e-01 9.60704392e-01 -2.15739830e-03 -1.04458357e+01] [-7.84448737e-03 -2.08435210e-05 9.99969231e-01 -2.95291093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:-10.45, Z:-2.95 [[ 9.61740204e-01 2.73777667e-01 1.00781185e-02 1.19721856e+02] [-2.73762502e-01 9.61793007e-01 -2.88162099e-03 -1.04486263e+01] [-1.04819874e-02 1.23598190e-05 9.99945062e-01 -2.95342141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.75, Y:-10.46, Z:-2.95 [[ 9.62846691e-01 2.69844189e-01 1.05054272e-02 1.19747478e+02] [-2.69827488e-01 9.62903999e-01 -3.00272352e-03 -1.04555437e+01] [-1.09259854e-02 5.65093686e-05 9.99940308e-01 -2.95432022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.77, Y:-10.47, Z:-2.96 [[ 9.65628489e-01 2.59706042e-01 1.06954266e-02 1.19773663e+02] [-2.59688124e-01 9.65687704e-01 -3.05560835e-03 -1.04670502e+01] [-1.11220019e-02 1.73107205e-04 9.99938134e-01 -2.95561875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:-10.48, Z:-2.96 [[ 9.67110472e-01 2.54133412e-01 1.06557088e-02 1.19799717e+02] [-2.54115293e-01 9.67169144e-01 -3.04385012e-03 -1.04774528e+01] [-1.10794167e-02 2.35960779e-04 9.99938594e-01 -2.95688988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:-10.49, Z:-2.96 [[ 9.69814794e-01 2.43588012e-01 1.11420234e-02 1.19826062e+02] [-2.43567514e-01 9.69878725e-01 -3.18181926e-03 -1.04916838e+01] [-1.15814645e-02 3.71940443e-04 9.99932863e-01 -2.95835410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:-10.50, Z:-2.96 [[ 9.70704450e-01 2.40009018e-01 1.13376430e-02 1.19852743e+02] [-2.39987559e-01 9.70770567e-01 -3.23691548e-03 -1.05034289e+01] [-1.17831390e-02 4.21195005e-04 9.99930488e-01 -2.95949974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.88, Y:-10.51, Z:-2.96 [[ 9.71321358e-01 2.37543629e-01 1.03847638e-02 1.19879082e+02] [-2.37525489e-01 9.71376783e-01 -2.96441183e-03 -1.05146181e+01] [-1.07916956e-02 4.12750413e-04 9.99941683e-01 -2.96022136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:-10.53, Z:-2.96 [[ 9.71516473e-01 2.36792863e-01 9.21318921e-03 1.19908310e+02] [-2.36778561e-01 9.71560086e-01 -2.62905182e-03 -1.05261761e+01] [-9.57370761e-03 3.72681466e-04 9.99954102e-01 -2.96171519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.94, Y:-10.54, Z:-2.96 [[ 9.70673425e-01 2.40281020e-01 7.62446260e-03 1.19935258e+02] [-2.40271329e-01 9.70703329e-01 -2.17619362e-03 -1.05387194e+01] [-7.92398925e-03 2.80433555e-04 9.99968565e-01 -2.96204607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.96, Y:-10.55, Z:-2.96 [[ 9.69742834e-01 2.44015024e-01 7.45008683e-03 1.19962239e+02] [-2.44005878e-01 9.69771421e-01 -2.12687986e-03 -1.05483438e+01] [-7.74387193e-03 2.44661529e-04 9.99969986e-01 -2.96265022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:-10.56, Z:-2.96 [[ 9.68492782e-01 2.48940383e-01 7.10042879e-03 1.19988196e+02] [-2.48932205e-01 9.68518790e-01 -2.02738633e-03 -1.05577327e+01] [-7.38159703e-03 1.95983633e-04 9.99972736e-01 -2.96241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.01, Y:-10.57, Z:-2.96 [[ 9.65366222e-01 2.60820510e-01 6.38112963e-03 1.20014781e+02] [-2.60814167e-01 9.65387307e-01 -1.82134778e-03 -1.05691069e+01] [-6.63530641e-03 9.39786153e-05 9.99977982e-01 -2.96311422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:-10.58, Z:-2.96 [[ 9.63602880e-01 2.67250216e-01 6.84198571e-03 1.20041390e+02] [-2.67243085e-01 9.63627168e-01 -1.95296575e-03 -1.05782003e+01] [-7.11505384e-03 5.34100515e-05 9.99974686e-01 -2.96371546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.07, Y:-10.59, Z:-2.96 [[ 9.59845511e-01 2.80409003e-01 8.20892616e-03 1.20068256e+02] [-2.80399224e-01 9.59880611e-01 -2.34248893e-03 -1.05862955e+01] [-8.53644405e-03 -5.33490448e-05 9.99963562e-01 -2.96408585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.09, Y:-10.59, Z:-2.96 [[ 9.58001263e-01 2.86640639e-01 8.40979982e-03 1.20094283e+02] [-2.86630619e-01 9.58038168e-01 -2.39928090e-03 -1.05918102e+01] [-8.74464062e-03 -1.11991998e-04 9.99961759e-01 -2.96470249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:-10.60, Z:-2.97 [[ 9.56310438e-01 2.92235562e-01 8.28987741e-03 1.20122249e+02] [-2.92226043e-01 9.56346355e-01 -2.36418333e-03 -1.05968915e+01] [-8.61889249e-03 -1.61624878e-04 9.99962844e-01 -2.96581720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.15, Y:-10.60, Z:-2.97 [[ 9.54818798e-01 2.97070134e-01 8.39037342e-03 1.20148577e+02] [-2.97060574e-01 9.54855639e-01 -2.39235070e-03 -1.06019063e+01] [-8.72229132e-03 -2.08187718e-04 9.99961938e-01 -2.96708423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.17, Y:-10.61, Z:-2.97 [[ 9.52689362e-01 3.03855357e-01 7.40955618e-03 1.20174891e+02] [-3.03848109e-01 9.52718146e-01 -2.11224204e-03 -1.06061277e+01] [-7.70103468e-03 -2.39069114e-04 9.99970318e-01 -2.96914181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.20, Y:-10.61, Z:-2.97 [[ 9.52156738e-01 3.05533106e-01 6.86061188e-03 1.20202547e+02] [-3.05526941e-01 9.52181425e-01 -1.95508664e-03 -1.06128034e+01] [-7.12989089e-03 -2.34552846e-04 9.99974554e-01 -2.97007655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:-10.62, Z:-2.97 [[ 9.51999322e-01 3.06032840e-01 6.41812720e-03 1.20229872e+02] [-3.06027458e-01 9.52020930e-01 -1.82867267e-03 -1.06193726e+01] [-6.66982532e-03 -2.23228011e-04 9.99977732e-01 -2.97119195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.26, Y:-10.62, Z:-2.97 [[ 9.52947611e-01 3.03086224e-01 5.43974352e-03 1.20256454e+02] [-3.03082309e-01 9.52963122e-01 -1.54996672e-03 -1.06230534e+01] [-5.65364853e-03 -1.71652941e-04 9.99984003e-01 -2.97256968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.28, Y:-10.63, Z:-2.97 [[ 9.54045460e-01 2.99615886e-01 5.25181340e-03 1.20283186e+02] [-2.99612187e-01 9.54059904e-01 -1.49599569e-03 -1.06283547e+01] [-5.45876867e-03 -1.46259400e-04 9.99985090e-01 -2.97349884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:-10.63, Z:-2.97 [[ 9.56766099e-01 2.90806113e-01 5.51685361e-03 1.20309582e+02] [-2.90801888e-01 9.56781999e-01 -1.57089645e-03 -1.06340481e+01] [-5.73525252e-03 -1.01330972e-04 9.99983548e-01 -2.97448541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.34, Y:-10.64, Z:-2.98 [[ 9.56782970e-01 2.90750598e-01 5.51709727e-03 1.20337024e+02] [-2.90746376e-01 9.56798871e-01 -1.57003975e-03 -1.06417183e+01] [-5.73524244e-03 -1.01888743e-04 9.99983548e-01 -2.97515160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.36, Y:-10.65, Z:-2.98 [[ 9.58162579e-01 2.86177874e-01 5.16679755e-03 1.20364298e+02] [-2.86174105e-01 9.58176507e-01 -1.47032986e-03 -1.06494348e+01] [-5.37147990e-03 -6.97886177e-05 9.99985571e-01 -2.97616397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.39, Y:-10.66, Z:-2.98 [[ 9.59506342e-01 2.81641785e-01 5.04829125e-03 1.20391300e+02] [-2.81638126e-01 9.59519621e-01 -1.43627935e-03 -1.06558033e+01] [-5.24845079e-03 -4.36721438e-05 9.99986226e-01 -2.97632765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:-10.66, Z:-2.98 [[ 9.61696420e-01 2.74058367e-01 5.65755156e-03 1.20419190e+02] [-2.74053644e-01 9.61713061e-01 -1.60901569e-03 -1.06591938e+01] [-5.88190544e-03 -3.08799266e-06 9.99982701e-01 -2.97725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.45, Y:-10.67, Z:-2.98 [[ 9.62564355e-01 2.71007245e-01 4.99367011e-03 1.20446906e+02] [-2.71003525e-01 9.62577308e-01 -1.41984761e-03 -1.06652032e+01] [-5.19158252e-03 1.33924990e-05 9.99986524e-01 -2.97791095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.47, Y:-10.67, Z:-2.98 [[ 9.63269806e-01 2.68497940e-01 4.48747120e-03 1.20473995e+02] [-2.68494910e-01 9.63280258e-01 -1.27577208e-03 -1.06717265e+01] [-4.66523459e-03 2.40495458e-05 9.99989117e-01 -2.97848464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:-10.68, Z:-2.98 [[ 9.64059126e-01 2.65627305e-01 5.66884305e-03 1.20501772e+02] [-2.65622424e-01 9.64075792e-01 -1.61102736e-03 -1.06780278e+01] [-5.89312721e-03 4.73537928e-05 9.99982634e-01 -2.97888394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.53, Y:-10.68, Z:-2.98 [[ 9.64293946e-01 2.64766839e-01 5.97548512e-03 1.20527693e+02] [-2.64761401e-01 9.64312459e-01 -1.69781769e-03 -1.06845042e+01] [-6.21176057e-03 5.51175107e-05 9.99980705e-01 -2.97913494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:-10.69, Z:-2.98 [[ 9.64729154e-01 2.63172014e-01 6.17662612e-03 1.20554679e+02] [-2.63166176e-01 9.64748924e-01 -1.75412335e-03 -1.06906458e+01] [-6.42052958e-03 6.67748618e-05 9.99979386e-01 -2.98031157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:-10.70, Z:-2.98 [[ 9.65028952e-01 2.62060075e-01 6.60598742e-03 1.20581758e+02] [-2.62053376e-01 9.65051559e-01 -1.87542300e-03 -1.06968335e+01] [-6.86659195e-03 7.87161822e-05 9.99976422e-01 -2.98115896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.61, Y:-10.70, Z:-2.98 [[ 9.65357666e-01 2.60832849e-01 7.12755373e-03 1.20608345e+02] [-2.60825017e-01 9.65383973e-01 -2.02348771e-03 -1.07027231e+01] [-7.40861820e-03 9.43450467e-05 9.99972551e-01 -2.98257617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:-10.71, Z:-2.98 [[ 9.65603021e-01 2.59927943e-01 6.94769158e-03 1.20635921e+02] [-2.59920488e-01 9.65628011e-01 -1.97096529e-03 -1.07096121e+01] [-7.22119456e-03 9.73226485e-05 9.99973922e-01 -2.98389149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.66, Y:-10.72, Z:-2.98 [[ 9.65880318e-01 2.58897620e-01 6.87268278e-03 1.20663252e+02] [-2.58890303e-01 9.65904763e-01 -1.94918482e-03 -1.07167882e+01] [-7.14299635e-03 1.03408333e-04 9.99974483e-01 -2.98460329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.69, Y:-10.72, Z:-2.99 [[ 9.65825492e-01 2.59094451e-01 7.15435417e-03 1.20690649e+02] [-2.59086532e-01 9.65851984e-01 -2.02845248e-03 -1.07242801e+01] [-7.43560795e-03 1.05534304e-04 9.99972350e-01 -2.98519475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:-10.73, Z:-2.99 [[ 9.65551352e-01 2.60113205e-01 7.19081769e-03 1.20717832e+02] [-2.60105237e-01 9.65578123e-01 -2.03825319e-03 -1.07308804e+01] [-7.47347282e-03 9.76687769e-05 9.99972068e-01 -2.98603994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:-10.74, Z:-2.99 [[ 9.65202570e-01 2.61407403e-01 7.08291367e-03 1.20743613e+02] [-2.61399710e-01 9.65228554e-01 -2.00734606e-03 -1.07372608e+01] [-7.36136565e-03 8.60240011e-05 9.99972901e-01 -2.98665801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.77, Y:-10.74, Z:-2.99 [[ 9.64738289e-01 2.63112473e-01 7.20144005e-03 1.20770932e+02] [-2.63104574e-01 9.64765164e-01 -2.04008042e-03 -1.07429970e+01] [-7.48446909e-03 7.34118766e-05 9.99971988e-01 -2.98720895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:-10.75, Z:-2.99 [[ 9.63610339e-01 2.67187011e-01 8.13732231e-03 1.20798471e+02] [-2.67177076e-01 9.63644695e-01 -2.30454422e-03 -1.07459542e+01] [-8.45723176e-03 4.65766504e-05 9.99964236e-01 -2.98772914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.83, Y:-10.75, Z:-2.99 [[ 9.63089851e-01 2.69061071e-01 8.00488229e-03 1.20825763e+02] [-2.69051529e-01 9.63123117e-01 -2.26619348e-03 -1.07513029e+01] [-8.31943163e-03 2.88221196e-05 9.99965393e-01 -2.98858923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.85, Y:-10.76, Z:-2.99 [[ 9.62736873e-01 2.70330924e-01 7.67495338e-03 1.20852629e+02] [-2.70322195e-01 9.62767465e-01 -2.17245326e-03 -1.07571154e+01] [-7.97647670e-03 1.67906143e-05 9.99968187e-01 -2.98958350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:-10.76, Z:-2.99 [[ 9.62357155e-01 2.71694290e-01 7.13578200e-03 1.20880531e+02] [-2.71686788e-01 9.62383610e-01 -2.01915043e-03 -1.07627428e+01] [-7.41595128e-03 4.44618033e-06 9.99972501e-01 -2.99117277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.91, Y:-10.77, Z:-2.99 [[ 9.62300885e-01 2.71902328e-01 6.79190105e-03 1.20906772e+02] [-2.71895538e-01 9.62324854e-01 -1.92160529e-03 -1.07690972e+01] [-7.05850414e-03 2.47488512e-06 9.99975088e-01 -2.99203530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.93, Y:-10.77, Z:-2.99 [[ 9.62434050e-01 2.71411188e-01 7.52773101e-03 1.20934149e+02] [-2.71402840e-01 9.62463489e-01 -2.12873689e-03 -1.07749712e+01] [-7.82292926e-03 5.72129391e-06 9.99969400e-01 -2.99339722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.96, Y:-10.78, Z:-2.99 [[ 9.62491491e-01 2.71179368e-01 8.47819929e-03 1.20960238e+02] [-2.71168776e-01 9.62528831e-01 -2.39680672e-03 -1.07811169e+01] [-8.81047578e-03 7.88314866e-06 9.99961187e-01 -2.99366307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:-10.79, Z:-2.99 [[ 9.62409924e-01 2.71434998e-01 9.49631970e-03 1.20987775e+02] [-2.71421734e-01 9.62456774e-01 -2.68334623e-03 -1.07873585e+01] [-9.86815130e-03 4.97147821e-06 9.99951309e-01 -2.99432622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.02, Y:-10.79, Z:-2.99 [[ 9.62289881e-01 2.71843932e-01 9.95293024e-03 1.21015093e+02] [-2.71829391e-01 9.62341351e-01 -2.81165779e-03 -1.07889794e+01] [-1.03424484e-02 1.30870398e-07 9.99946515e-01 -2.99431396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.04, Y:-10.79, Z:-3.00 [[ 9.62306199e-01 2.71782723e-01 1.00464479e-02 1.21041163e+02] [-2.71767914e-01 9.62358640e-01 -2.83711093e-03 -1.07943188e+01] [-1.04393637e-02 -1.32758941e-07 9.99945508e-01 -2.99545755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.07, Y:-10.80, Z:-3.00 [[ 9.62368781e-01 2.71573771e-01 9.69615896e-03 1.21067433e+02] [-2.71559974e-01 9.62417626e-01 -2.73738059e-03 -1.08010957e+01] [-1.00751551e-02 1.28094510e-06 9.99949244e-01 -2.99636834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.09, Y:-10.81, Z:-3.00 [[ 9.62732869e-01 2.70321213e-01 8.47736015e-03 1.21094774e+02] [-2.70310624e-01 9.62770192e-01 -2.39264813e-03 -1.08080218e+01] [-8.80853320e-03 1.19604844e-05 9.99961204e-01 -2.99807815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:-10.81, Z:-3.00 [[ 9.62936805e-01 2.69597604e-01 8.35710097e-03 1.21122058e+02] [-2.69587291e-01 9.62973069e-01 -2.35807724e-03 -1.08139583e+01] [-8.68339514e-03 1.77111512e-05 9.99962298e-01 -2.99864763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.15, Y:-10.82, Z:-3.00 [[ 9.63122369e-01 2.68912901e-01 9.00859989e-03 1.21149877e+02] [-2.68900896e-01 9.63164498e-01 -2.54107204e-03 -1.08191031e+01] [-9.36009064e-03 2.49427388e-05 9.99956193e-01 -2.99885956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:-10.82, Z:-3.00 [[ 9.63122933e-01 2.68889294e-01 9.63133557e-03 1.21177431e+02] [-2.68875578e-01 9.63171089e-01 -2.71601385e-03 -1.08217982e+01] [-1.00069310e-02 2.62243075e-05 9.99949929e-01 -2.99905883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:-10.83, Z:-3.00 [[ 9.63081754e-01 2.69046389e-01 9.35819757e-03 1.21204091e+02] [-2.69033455e-01 9.63127219e-01 -2.63818968e-03 -1.08267910e+01] [-9.72293020e-03 2.31241160e-05 9.99952731e-01 -2.99936914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.23, Y:-10.83, Z:-3.00 [[ 9.63027176e-01 2.69277931e-01 8.24952573e-03 1.21231197e+02] [-2.69267887e-01 9.63062509e-01 -2.32583074e-03 -1.08295653e+01] [-8.57110383e-03 1.85058523e-05 9.99963267e-01 -3.00068189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.26, Y:-10.83, Z:-3.00 [[ 9.63048850e-01 2.69198983e-01 8.29582267e-03 1.21258583e+02] [-2.69188841e-01 9.63084579e-01 -2.33681518e-03 -1.08348894e+01] [-8.61864716e-03 1.73242843e-05 9.99962859e-01 -3.00117947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:-10.84, Z:-3.00 [[ 9.63209673e-01 2.68601157e-01 8.97467716e-03 1.21285680e+02] [-2.68589269e-01 9.63251482e-01 -2.52723045e-03 -1.08401525e+01] [-9.32368810e-03 2.37508387e-05 9.99956533e-01 -3.00171647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:-10.84, Z:-3.00 [[ 9.63537048e-01 2.67381661e-01 1.01687960e-02 1.21313707e+02] [-2.67366341e-01 9.63590704e-01 -2.86249446e-03 -1.08449136e+01] [-1.05639359e-02 3.93256705e-05 9.99944199e-01 -3.00192426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.34, Y:-10.85, Z:-3.00 [[ 9.64723367e-01 2.63023157e-01 1.12979778e-02 1.21341228e+02] [-2.63003958e-01 9.64789516e-01 -3.17943064e-03 -1.08460181e+01] [-1.17364344e-02 9.58581691e-05 9.99931121e-01 -3.00164324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:-10.85, Z:-3.00 [[ 9.65498153e-01 2.60175172e-01 1.10542142e-02 1.21368125e+02] [-2.60156618e-01 9.65561424e-01 -3.10973086e-03 -1.08525745e+01] [-1.14825976e-02 1.26612411e-04 9.99934065e-01 -3.00244579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.954203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:121.39, Y:-10.86, Z:-3.00 [[ 9.67189551e-01 2.53756638e-01 1.23264100e-02 1.21394635e+02] [-2.53733059e-01 9.67268069e-01 -3.46649868e-03 -1.08601611e+01] [-1.28025898e-02 2.25143583e-04 9.99918018e-01 -3.00453999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.42, Y:-10.87, Z:-3.00 [[ 9.68048548e-01 2.50434642e-01 1.28257244e-02 1.21421748e+02] [-2.50408837e-01 9.68133468e-01 -3.60587222e-03 -1.08672951e+01] [-1.33200484e-02 2.78984638e-04 9.99911245e-01 -3.00453824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:-10.87, Z:-3.01 [[ 9.68884263e-01 2.47190521e-01 1.26542589e-02 1.21448498e+02] [-2.47165137e-01 9.68966844e-01 -3.55671067e-03 -1.08739770e+01] [-1.31407425e-02 3.18349364e-04 9.99913606e-01 -3.00547573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:-10.88, Z:-3.01 [[ 9.70218960e-01 2.41892235e-01 1.27795088e-02 1.21474461e+02] [-2.41865898e-01 9.70303041e-01 -3.59101183e-03 -1.08815911e+01] [-1.32686341e-02 3.93140407e-04 9.99911891e-01 -3.00629048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.50, Y:-10.89, Z:-3.01 [[ 9.70672090e-01 2.40060794e-01 1.29038594e-02 1.21500960e+02] [-2.40033797e-01 9.70757765e-01 -3.62463853e-03 -1.08890203e+01] [-1.33966553e-02 4.20973083e-04 9.99910172e-01 -3.00692405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:-10.90, Z:-3.01 [[ 9.70867228e-01 2.39307833e-01 1.21895733e-02 1.21526511e+02] [-2.39283693e-01 9.70943662e-01 -3.42328010e-03 -1.08968090e+01] [-1.26546067e-02 4.06784354e-04 9.99919845e-01 -3.00790402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:-10.91, Z:-3.01 [[ 9.70740186e-01 2.39946066e-01 9.45389639e-03 1.21552541e+02] [-2.39931581e-01 9.70786171e-01 -2.65443401e-03 -1.09077231e+01] [-9.81463288e-03 3.08477460e-04 9.99951788e-01 -3.00913884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.58, Y:-10.92, Z:-3.01 [[ 9.70525560e-01 2.40827041e-01 9.08147956e-03 1.21578287e+02] [-2.40813712e-01 9.70568006e-01 -2.55002476e-03 -1.09177348e+01] [-9.42830842e-03 2.87919404e-04 9.99955511e-01 -3.00938178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.60, Y:-10.93, Z:-3.01 [[ 9.70207557e-01 2.42082277e-01 9.66783168e-03 1.21603977e+02] [-2.42067255e-01 9.70255681e-01 -2.71259084e-03 -1.09267447e+01] [-1.00369388e-02 2.91510660e-04 9.99949586e-01 -3.00998452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:-10.94, Z:-3.01 [[ 9.69094928e-01 2.46478972e-01 1.01556535e-02 1.21630927e+02] [-2.46462648e-01 9.69148105e-01 -2.84831671e-03 -1.09359974e+01] [-1.05443825e-02 2.57300022e-04 9.99944373e-01 -3.00993724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.66, Y:-10.94, Z:-3.01 [[ 9.68314263e-01 2.49513381e-01 1.05148029e-02 1.21657897e+02] [-2.49496070e-01 9.68371323e-01 -2.94823299e-03 -1.09438961e+01] [-1.09178572e-02 2.31414064e-04 9.99940372e-01 -3.01056600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:-10.96, Z:-3.01 [[ 9.66458028e-01 2.56537038e-01 1.21501942e-02 1.21683759e+02] [-2.56514492e-01 9.66534385e-01 -3.40555320e-03 -1.09559332e+01] [-1.26172310e-02 1.74623342e-04 9.99920384e-01 -3.01063129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.71, Y:-10.97, Z:-3.01 [[ 9.65471780e-01 2.60184090e-01 1.29800687e-02 1.21709767e+02] [-2.60158703e-01 9.65559020e-01 -3.63703644e-03 -1.09669603e+01] [-1.34793214e-02 1.34578209e-04 9.99909141e-01 -3.01016171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:-10.98, Z:-3.01 [[ 9.64441790e-01 2.63899859e-01 1.44532975e-02 1.21735077e+02] [-2.63868817e-01 9.64550080e-01 -4.04858549e-03 -1.09771961e+01] [-1.50093504e-02 9.08505237e-05 9.99887349e-01 -3.01033495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:-10.99, Z:-3.01 [[ 9.62237649e-01 2.71834818e-01 1.43016876e-02 1.21761937e+02] [-2.71805320e-01 9.62343925e-01 -4.00468321e-03 -1.09865436e+01] [-1.48517545e-02 -3.38178126e-05 9.99889706e-01 -3.00975648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.79, Y:-10.99, Z:-3.01 [[ 9.61124548e-01 2.75750166e-01 1.41932757e-02 1.21787862e+02] [-2.75721548e-01 9.61229336e-01 -3.97377725e-03 -1.09937364e+01] [-1.47387627e-02 -9.40970959e-05 9.99891374e-01 -3.01072746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.81, Y:-11.00, Z:-3.01 [[ 9.60088056e-01 2.79353276e-01 1.38806296e-02 1.21814853e+02] [-2.79326316e-01 9.60188380e-01 -3.88383449e-03 -1.10025357e+01] [-1.44129811e-02 -1.48402019e-04 9.99896117e-01 -3.01239083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:-11.01, Z:-3.02 [[ 9.58380704e-01 2.85246970e-01 1.18571754e-02 1.21841052e+02] [-2.85227756e-01 9.58454029e-01 -3.31699278e-03 -1.10138380e+01] [-1.23107196e-02 -2.03053646e-04 9.99924200e-01 -3.01547882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:-11.02, Z:-3.02 [[ 9.57752402e-01 2.87386318e-01 1.09288935e-02 1.21866250e+02] [-2.87370140e-01 9.57814731e-01 -3.05673190e-03 -1.10223183e+01] [-1.13463181e-02 -2.13045340e-04 9.99935606e-01 -3.01691171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.89, Y:-11.03, Z:-3.02 [[ 9.56968542e-01 2.89998279e-01 1.05928154e-02 1.21892606e+02] [-2.89983253e-01 9.57027137e-01 -2.96165735e-03 -1.10318339e+01] [-1.09964873e-02 -2.37526136e-04 9.99939509e-01 -3.01800645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:-11.04, Z:-3.02 [[ 9.56710336e-01 2.90835799e-01 1.09485533e-02 1.21919641e+02] [-2.90819811e-01 9.56772947e-01 -3.06023056e-03 -1.10398922e+01] [-1.13653042e-02 -2.56301998e-04 9.99935380e-01 -3.01817245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.95, Y:-11.05, Z:-3.02 [[ 9.56396713e-01 2.91841007e-01 1.15825251e-02 1.21945182e+02] [-2.91823198e-01 9.56466803e-01 -3.23658765e-03 -1.10471835e+01] [-1.20228698e-02 -2.84587737e-04 9.99927682e-01 -3.01817083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.97, Y:-11.05, Z:-3.02 [[ 9.55739377e-01 2.93949004e-01 1.24990765e-02 1.21971813e+02] [-2.93928462e-01 9.55821045e-01 -3.49135296e-03 -1.10542428e+01] [-1.29731601e-02 -3.37010845e-04 9.99915788e-01 -3.01724575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:-11.06, Z:-3.02 [[ 9.55520408e-01 2.94651574e-01 1.26964624e-02 1.21999305e+02] [-2.94630454e-01 9.55604691e-01 -3.54547286e-03 -1.10613003e+01] [-1.31774782e-02 -3.52992808e-04 9.99913111e-01 -3.01775380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:-11.07, Z:-3.02 [[ 9.55538292e-01 2.94593558e-01 1.26967547e-02 1.22026781e+02] [-2.94572447e-01 9.55622577e-01 -3.54442567e-03 -1.10688399e+01] [-1.31774704e-02 -3.53279652e-04 9.99913111e-01 -3.01842003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.05, Y:-11.08, Z:-3.02 [[ 9.55793246e-01 2.93766858e-01 1.26610859e-02 1.22053635e+02] [-2.93745802e-01 9.55877040e-01 -3.53377618e-03 -1.10751575e+01] [-1.31405476e-02 -3.41581417e-04 9.99913601e-01 -3.01938711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:-11.08, Z:-3.02 [[ 9.56218734e-01 2.92358164e-01 1.31314946e-02 1.22080214e+02] [-2.92335388e-01 9.56308837e-01 -3.66453139e-03 -1.10811976e+01] [-1.36291200e-02 -3.34707002e-04 9.99907063e-01 -3.02024416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.11, Y:-11.09, Z:-3.02 [[ 9.56867155e-01 2.90217756e-01 1.33754312e-02 1.22107871e+02] [-2.90193952e-01 9.56960583e-01 -3.73012747e-03 -1.10873769e+01] [-1.38823097e-02 -3.12232776e-04 9.99903587e-01 -3.02081540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.13, Y:-11.09, Z:-3.02 [[ 9.57664423e-01 2.87545783e-01 1.40098348e-02 1.22133601e+02] [-2.87519390e-01 9.57766851e-01 -3.90642539e-03 -1.10941111e+01] [-1.45414315e-02 -2.87054537e-04 9.99894227e-01 -3.02138016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:-11.10, Z:-3.02 [[ 9.59532909e-01 2.81229402e-01 1.43742552e-02 1.22160248e+02] [-2.81200947e-01 9.59640549e-01 -4.00542108e-03 -1.11016266e+01] [-1.49205604e-02 -1.98720845e-04 9.99888662e-01 -3.02185420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.19, Y:-11.11, Z:-3.02 [[ 9.60498773e-01 2.77946219e-01 1.37115254e-02 1.22186926e+02] [-2.77920006e-01 9.60596627e-01 -3.81978777e-03 -1.11085685e+01] [-1.42329406e-02 -1.41805764e-04 9.99898697e-01 -3.02277442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.21, Y:-11.12, Z:-3.02 [[ 9.61793700e-01 2.73445012e-01 1.34425933e-02 1.22212901e+02] [-2.73419384e-01 9.61887634e-01 -3.74437894e-03 -1.11154940e+01] [-1.39541460e-02 -7.41455195e-05 9.99902633e-01 -3.02349863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:-11.12, Z:-3.02 [[ 9.62244404e-01 2.71852481e-01 1.34883650e-02 1.22240263e+02] [-2.71826555e-01 9.62338935e-01 -3.75473894e-03 -1.11227011e+01] [-1.40011139e-02 -5.35192503e-05 9.99901978e-01 -3.02383855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-11.13, Z:-3.02 [[ 9.62752749e-01 2.70039912e-01 1.36231187e-02 1.22267902e+02] [-2.70013300e-01 9.62849129e-01 -3.79119598e-03 -1.11284405e+01] [-1.41407822e-02 -2.84388896e-05 9.99900014e-01 -3.02282380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.29, Y:-11.13, Z:-3.02 [[ 9.62993156e-01 2.69215970e-01 1.29206242e-02 1.22294257e+02] [-2.69191968e-01 9.63079831e-01 -3.59490047e-03 -1.11343544e+01] [-1.34113972e-02 -1.62637147e-05 9.99910063e-01 -3.02344479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:-11.14, Z:-3.02 [[ 9.63201881e-01 2.68534071e-01 1.14712199e-02 1.22321541e+02] [-2.68515115e-01 9.63270187e-01 -3.19065964e-03 -1.11417502e+01] [-1.19066850e-02 -6.94658334e-06 9.99929113e-01 -3.02417031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.35, Y:-11.15, Z:-3.03 [[ 9.63711517e-01 2.66737406e-01 1.05483745e-02 1.22348212e+02] [-2.66721277e-01 9.63769244e-01 -2.93331783e-03 -1.11501588e+01] [-1.09486245e-02 1.33962664e-05 9.99940062e-01 -3.02690510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:-11.16, Z:-3.03 [[ 9.64021264e-01 2.65618355e-01 1.04829057e-02 1.22373893e+02] [-2.65602366e-01 9.64078259e-01 -2.91446557e-03 -1.11575734e+01] [-1.08804770e-02 2.53222205e-05 9.99940806e-01 -3.02733768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.40, Y:-11.16, Z:-3.03 [[ 9.64706164e-01 2.63084561e-01 1.13371121e-02 1.22400210e+02] [-2.63065700e-01 9.64772777e-01 -3.15075653e-03 -1.11647554e+01] [-1.17666526e-02 5.71489097e-05 9.99930769e-01 -3.02796190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:-11.17, Z:-3.03 [[ 9.65103981e-01 2.61600149e-01 1.18181162e-02 1.22426765e+02] [-2.61579557e-01 9.65176334e-01 -3.28316072e-03 -1.11720260e+01] [-1.22654414e-02 7.72138766e-05 9.99924774e-01 -3.02812137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:-11.18, Z:-3.03 [[ 9.65548825e-01 2.59938600e-01 1.21404571e-02 1.22453635e+02] [-2.59916750e-01 9.65625142e-01 -3.37174271e-03 -1.11795124e+01] [-1.25995767e-02 1.00074067e-04 9.99920617e-01 -3.02860141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.48, Y:-11.19, Z:-3.03 [[ 9.66052349e-01 2.58055519e-01 1.22559230e-02 1.22480551e+02] [-2.58033112e-01 9.66130081e-01 -3.40286462e-03 -1.11877265e+01] [-1.27189439e-02 1.24911406e-04 9.99919103e-01 -3.02896797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.51, Y:-11.20, Z:-3.03 [[ 9.67143973e-01 2.53927918e-01 1.23752599e-02 1.22506793e+02] [-2.53904747e-01 9.67223128e-01 -3.43503935e-03 -1.11981394e+01] [-1.28418900e-02 1.80040367e-04 9.99917523e-01 -3.02904203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:-11.21, Z:-3.03 [[ 9.67589353e-01 2.52204503e-01 1.27957933e-02 1.22533115e+02] [-2.52179594e-01 9.67673935e-01 -3.55074042e-03 -1.12067664e+01] [-1.32776684e-02 2.08820668e-04 9.99911826e-01 -3.02963317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.56, Y:-11.22, Z:-3.03 [[ 9.68056569e-01 2.50369617e-01 1.34734713e-02 1.22558606e+02] [-2.50341838e-01 9.68150296e-01 -3.73755855e-03 -1.12188801e+01] [-1.39801164e-02 2.45194528e-04 9.99902243e-01 -3.03058637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.59, Y:-11.23, Z:-3.03 [[ 9.68019438e-01 2.50506673e-01 1.35931578e-02 1.22585295e+02] [-2.50478422e-01 9.68114842e-01 -3.77002241e-03 -1.12288077e+01] [-1.41041535e-02 2.44662276e-04 9.99900502e-01 -3.03128744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.61, Y:-11.24, Z:-3.03 [[ 9.67709562e-01 2.51701512e-01 1.35849790e-02 1.22611840e+02] [-2.51673430e-01 9.67804886e-01 -3.76658032e-03 -1.12380409e+01] [-1.40956630e-02 2.25977540e-04 9.99900626e-01 -3.03154522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:-11.25, Z:-3.03 [[ 9.66445014e-01 2.56556025e-01 1.27687731e-02 1.22637596e+02] [-2.56531646e-01 9.66529350e-01 -3.53976335e-03 -1.12466047e+01] [-1.32495416e-02 1.45392260e-04 9.99912210e-01 -3.03197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:-11.25, Z:-3.03 [[ 9.65600751e-01 2.59771834e-01 1.15665125e-02 1.22663909e+02] [-2.59752070e-01 9.65670019e-01 -3.20565013e-03 -1.12536065e+01] [-1.20021720e-02 9.09526007e-05 9.99927967e-01 -3.03297454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.69, Y:-11.26, Z:-3.03 [[ 9.64709047e-01 2.63133493e-01 9.85995224e-03 1.22691222e+02] [-2.63119313e-01 9.64759433e-01 -2.73201878e-03 -1.12611715e+01] [-1.02313676e-02 4.12593711e-05 9.99947657e-01 -3.03446599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:-11.27, Z:-3.04 [[ 9.62849494e-01 2.69894881e-01 8.80940285e-03 1.22716592e+02] [-2.69883843e-01 9.62889793e-01 -2.44108781e-03 -1.12691641e+01] [-9.14132119e-03 -2.71153271e-05 9.99958217e-01 -3.03515008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:-11.28, Z:-3.04 [[ 9.62053760e-01 2.72697745e-01 9.40759661e-03 1.22742940e+02] [-2.72685310e-01 9.62099754e-01 -2.60494302e-03 -1.12753647e+01] [-9.76140847e-03 -5.92181678e-05 9.99952355e-01 -3.03556867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.77, Y:-11.28, Z:-3.04 [[ 9.61295345e-01 2.75320860e-01 1.04730286e-02 1.22770447e+02] [-2.75305618e-01 9.61352388e-01 -2.89861036e-03 -1.12814472e+01] [-1.08663189e-02 -9.68629652e-05 9.99940955e-01 -3.03619576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:-11.29, Z:-3.04 [[ 9.60079797e-01 2.79457383e-01 1.22619429e-02 1.22796449e+02] [-2.79436833e-01 9.60158082e-01 -3.39316691e-03 -1.12876290e+01] [-1.27216491e-02 -1.68727490e-04 9.99919062e-01 -3.03719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.82, Y:-11.29, Z:-3.04 [[ 9.59694138e-01 2.80768269e-01 1.25036143e-02 1.22823771e+02] [-2.80747042e-01 9.59775569e-01 -3.45781789e-03 -1.12944043e+01] [-1.29715091e-02 -1.91905166e-04 9.99915848e-01 -3.03784897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.85, Y:-11.30, Z:-3.04 [[ 9.59371711e-01 2.81852582e-01 1.28468457e-02 1.22850004e+02] [-2.81830278e-01 9.59457699e-01 -3.55212923e-03 -1.13008835e+01] [-1.33271818e-02 -2.12817793e-04 9.99911167e-01 -3.03960418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:-11.31, Z:-3.04 [[ 9.59574481e-01 2.81190985e-01 1.21837991e-02 1.22876355e+02] [-2.81170895e-01 9.59651808e-01 -3.36687085e-03 -1.13090864e+01] [-1.26389386e-02 -1.94966363e-04 9.99920106e-01 -3.04102939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:-11.32, Z:-3.04 [[ 9.59988210e-01 2.79782808e-01 1.20090613e-02 1.22903393e+02] [-2.79763191e-01 9.60063305e-01 -3.31770124e-03 -1.13177571e+01] [-1.24576948e-02 -1.74739224e-04 9.99922385e-01 -3.04231068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.93, Y:-11.33, Z:-3.04 [[ 9.60579611e-01 2.77740968e-01 1.21147081e-02 1.22929891e+02] [-2.77720852e-01 9.60655991e-01 -3.34607876e-03 -1.13250131e+01] [-1.25674101e-02 -1.50332017e-04 9.99921016e-01 -3.04295335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724203822 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:122.96, Y:-11.33, Z:-3.04 [[ 9.62127508e-01 2.72378712e-01 1.09770649e-02 1.22955801e+02] [-2.72361851e-01 9.62190122e-01 -3.03157313e-03 -1.13317247e+01] [-1.13877594e-02 -7.29738289e-05 9.99935155e-01 -3.04426257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:-11.34, Z:-3.04 [[ 9.62918942e-01 2.69603690e-01 1.00479444e-02 1.22982096e+02] [-2.69589428e-01 9.62971365e-01 -2.77326599e-03 -1.13408212e+01] [-1.04235655e-02 -3.83892371e-05 9.99945672e-01 -3.04444098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.01, Y:-11.35, Z:-3.05 [[ 9.64228349e-01 2.64903342e-01 9.48211361e-03 1.23007340e+02] [-2.64890421e-01 9.64274971e-01 -2.61645054e-03 -1.13516943e+01] [-9.83647132e-03 1.11347259e-05 9.99951621e-01 -3.04521806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.03, Y:-11.36, Z:-3.05 [[ 9.64693262e-01 2.63182392e-01 1.00964577e-02 1.23033791e+02] [-2.63167657e-01 9.64746095e-01 -2.78506251e-03 -1.13595905e+01] [-1.04734975e-02 2.96699225e-05 9.99945151e-01 -3.04542597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:-11.37, Z:-3.05 [[ 9.65154991e-01 2.61343205e-01 1.32503566e-02 1.23059984e+02] [-2.61317673e-01 9.65245940e-01 -3.65358890e-03 -1.13661365e+01] [-1.37446936e-02 6.37272073e-05 9.99905535e-01 -3.04557505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.09, Y:-11.37, Z:-3.05 [[ 9.65153154e-01 2.61292272e-01 1.43436031e-02 1.23085987e+02] [-2.61262369e-01 9.65259729e-01 -3.95356554e-03 -1.13726438e+01] [-1.48783386e-02 6.83525246e-05 9.99889309e-01 -3.04586089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.11, Y:-11.38, Z:-3.05 [[ 9.65060792e-01 2.61617308e-01 1.46305115e-02 1.23112562e+02] [-2.61586256e-01 9.65171684e-01 -4.03120609e-03 -1.13798961e+01] [-1.51755887e-02 6.32182110e-05 9.99884842e-01 -3.04665272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:-11.39, Z:-3.05 [[ 9.64911368e-01 2.62172732e-01 1.45434113e-02 1.23139708e+02] [-2.62142128e-01 9.65020961e-01 -4.00610184e-03 -1.13881414e+01] [-1.50849874e-02 5.30924231e-05 9.99886214e-01 -3.04758706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.17, Y:-11.40, Z:-3.05 [[ 9.64549290e-01 2.63572665e-01 1.31953633e-02 1.23166642e+02] [-2.63547618e-01 9.64639544e-01 -3.63370013e-03 -1.13980129e+01] [-1.36865133e-02 2.72763098e-05 9.99906335e-01 -3.04858541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:-11.41, Z:-3.05 [[ 9.64335309e-01 2.64384518e-01 1.25792679e-02 1.23193014e+02] [-2.64361830e-01 9.64417351e-01 -3.46355332e-03 -1.14057057e+01] [-1.30473741e-02 1.45484769e-05 9.99914879e-01 -3.04980926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.22, Y:-11.41, Z:-3.05 [[ 9.63844217e-01 2.66221244e-01 1.14269513e-02 1.23219954e+02] [-2.66202658e-01 9.63911951e-01 -3.14576378e-03 -1.14121445e+01] [-1.18520441e-02 -9.85858979e-06 9.99929762e-01 -3.05135340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:-11.42, Z:-3.05 [[ 9.63586218e-01 2.67199106e-01 1.03071812e-02 1.23247509e+02] [-2.67184047e-01 9.63641343e-01 -2.83688279e-03 -1.14173549e+01] [-1.06904385e-02 -2.03332392e-05 9.99942855e-01 -3.05213290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:-11.42, Z:-3.05 [[ 9.63406948e-01 2.67861122e-01 9.87280307e-03 1.23274795e+02] [-2.67847347e-01 9.63457533e-01 -2.71666392e-03 -1.14222306e+01] [-1.02397151e-02 -2.71512086e-05 9.99947572e-01 -3.05307492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.30, Y:-11.43, Z:-3.05 [[ 9.63139485e-01 2.68800578e-01 1.04202696e-02 1.23301109e+02] [-2.68785295e-01 9.63195851e-01 -2.86653691e-03 -1.14274531e+01] [-1.08072872e-02 -3.99403612e-05 9.99941599e-01 -3.05326050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:-11.44, Z:-3.05 [[ 9.63129409e-01 2.68823697e-01 1.07500018e-02 1.23328393e+02] [-2.68807447e-01 9.63189399e-01 -2.95603425e-03 -1.14352369e+01] [-1.11489398e-02 -4.26370266e-05 9.99937848e-01 -3.05422329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:-11.44, Z:-3.05 [[ 9.63149607e-01 2.68704666e-01 1.18590593e-02 1.23354179e+02] [-2.68684894e-01 9.63222612e-01 -3.26002178e-03 -1.14442528e+01] [-1.22988972e-02 -4.64614024e-05 9.99924365e-01 -3.05481146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.38, Y:-11.45, Z:-3.06 [[ 9.63288118e-01 2.68162369e-01 1.28430952e-02 1.23381529e+02] [-2.68139151e-01 9.63373729e-01 -3.52902145e-03 -1.14517430e+01] [-1.33190513e-02 -4.42722021e-05 9.99911297e-01 -3.05520025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:-11.46, Z:-3.06 [[ 9.64007395e-01 2.65528864e-01 1.35707064e-02 1.23408539e+02] [-2.65502693e-01 9.64102911e-01 -3.72789454e-03 -1.14586992e+01] [-1.40734211e-02 -9.34119175e-06 9.99900964e-01 -3.05507432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.44, Y:-11.47, Z:-3.06 [[ 9.64527913e-01 2.63629993e-01 1.36063120e-02 1.23435345e+02] [-2.63603511e-01 9.64623878e-01 -3.73664336e-03 -1.14654834e+01] [-1.41100647e-02 1.74252099e-05 9.99900448e-01 -3.05622022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.46, Y:-11.47, Z:-3.06 [[ 9.65085223e-01 2.61583987e-01 1.35768483e-02 1.23461868e+02] [-2.61557431e-01 9.65180717e-01 -3.72755009e-03 -1.14728546e+01] [-1.40791796e-02 4.62779387e-05 9.99900882e-01 -3.05740370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:-11.48, Z:-3.06 [[ 9.65587992e-01 2.59714932e-01 1.37107116e-02 1.23488650e+02] [-2.59687678e-01 9.65685326e-01 -3.76311837e-03 -1.14814723e+01] [-1.42175710e-02 7.31190480e-05 9.99898923e-01 -3.05896570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:-11.49, Z:-3.06 [[ 9.66772338e-01 2.55324952e-01 1.26654801e-02 1.23514762e+02] [-2.55301326e-01 9.66855291e-01 -3.47567052e-03 -1.14919743e+01] [-1.31331119e-02 1.26668240e-04 9.99913749e-01 -3.06012492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.54, Y:-11.50, Z:-3.06 [[ 9.67683172e-01 2.51862742e-01 1.24273241e-02 1.23541625e+02] [-2.51839725e-01 9.67762952e-01 -3.40914276e-03 -1.15020663e+01] [-1.28853399e-02 1.69276189e-04 9.99916966e-01 -3.06117485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:-11.51, Z:-3.06 [[ 9.67901269e-01 2.51023499e-01 1.24232110e-02 1.23569133e+02] [-2.51000438e-01 9.67980976e-01 -3.40725079e-03 -1.15104094e+01] [-1.28807319e-02 1.79650961e-04 9.99917024e-01 -3.06227834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:-11.52, Z:-3.06 [[ 9.67970986e-01 2.50752570e-01 1.24627105e-02 1.23596053e+02] [-2.50729342e-01 9.68051194e-01 -3.41786225e-03 -1.15180366e+01] [-1.29215795e-02 1.83624287e-04 9.99916496e-01 -3.06304122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:-11.53, Z:-3.06 [[ 9.67927506e-01 2.50928432e-01 1.22989907e-02 1.23623845e+02] [-2.50905837e-01 9.68005625e-01 -3.37206903e-03 -1.15261909e+01] [-1.27516401e-02 1.78029828e-04 9.99918679e-01 -3.06378666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.65, Y:-11.54, Z:-3.06 [[ 9.67609179e-01 2.52161509e-01 1.21264572e-02 1.23649500e+02] [-2.52139646e-01 9.67685149e-01 -3.32428939e-03 -1.15366372e+01] [-1.25728503e-02 1.59052312e-04 9.99920946e-01 -3.06391109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:-11.55, Z:-3.06 [[ 9.67374453e-01 2.53045510e-01 1.24353410e-02 1.23675726e+02] [-2.53022601e-01 9.67454364e-01 -3.40825721e-03 -1.15452925e+01] [-1.28930691e-02 1.50638631e-04 9.99916870e-01 -3.06498340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:-11.55, Z:-3.07 [[ 9.66712444e-01 2.55635935e-01 1.08314421e-02 1.23702388e+02] [-2.55618726e-01 9.66773116e-01 -2.96791674e-03 -1.15515946e+01] [-1.12302532e-02 1.00402606e-04 9.99936934e-01 -3.06601042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:-11.56, Z:-3.07 [[ 9.66727355e-01 2.55579533e-01 1.08316143e-02 1.23729903e+02] [-2.55562327e-01 9.66788028e-01 -2.96728829e-03 -1.15589930e+01] [-1.12302532e-02 1.00406208e-04 9.99936934e-01 -3.06667666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:-11.57, Z:-3.07 [[ 9.66428170e-01 2.56748973e-01 9.82632059e-03 1.23756811e+02] [-2.56734876e-01 9.66478121e-01 -2.69159201e-03 -1.15656734e+01] [-1.01879873e-02 7.84711365e-05 9.99948098e-01 -3.06791620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:-11.57, Z:-3.07 [[ 9.66149705e-01 2.57778731e-01 1.02408038e-02 1.23783098e+02] [-2.57763488e-01 9.66203975e-01 -2.80409525e-03 -1.15736288e+01] [-1.06175415e-02 6.94704827e-05 9.99943630e-01 -3.06949517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.81, Y:-11.58, Z:-3.07 [[ 9.65738474e-01 2.59282592e-01 1.10334865e-02 1.23809866e+02] [-2.59265008e-01 9.65801498e-01 -3.02019858e-03 -1.15843390e+01] [-1.14392427e-02 5.61249965e-05 9.99934568e-01 -3.07023455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:-11.59, Z:-3.07 [[ 9.65498599e-01 2.60193130e-01 1.05825582e-02 1.23837537e+02] [-2.60177014e-01 9.65556592e-01 -2.89625579e-03 -1.15937109e+01] [-1.09716447e-02 4.29925178e-05 9.99939809e-01 -3.07092576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:-11.60, Z:-3.07 [[ 9.65188492e-01 2.61343827e-01 1.05156675e-02 1.23863616e+02] [-2.61327987e-01 9.65245773e-01 -2.87755583e-03 -1.16026515e+01] [-1.09022350e-02 2.93455662e-05 9.99940568e-01 -3.07189535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:-11.61, Z:-3.07 [[ 9.64592136e-01 2.63514396e-01 1.10532462e-02 1.23890199e+02] [-2.63497044e-01 9.64655464e-01 -3.02400753e-03 -1.16111320e+01] [-1.14594438e-02 4.43619162e-06 9.99934338e-01 -3.07287399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:-11.62, Z:-3.07 [[ 9.64387458e-01 2.64285575e-01 1.04864694e-02 1.23916777e+02] [-2.64270012e-01 9.64444470e-01 -2.86805764e-03 -1.16180688e+01] [-1.08716037e-02 -5.34057909e-06 9.99940902e-01 -3.07372691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:-11.63, Z:-3.08 [[ 9.63883024e-01 2.66173547e-01 9.00883545e-03 1.23943816e+02] [-2.66162146e-01 9.63925123e-01 -2.46369932e-03 -1.16264778e+01] [-9.33961440e-03 -2.30930229e-05 9.99956385e-01 -3.07539444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.97, Y:-11.63, Z:-3.08 [[ 9.63598684e-01 2.67189353e-01 9.35016746e-03 1.23970110e+02] [-2.67177126e-01 9.63644047e-01 -2.55628465e-03 -1.16347526e+01] [-9.69324525e-03 -3.49183482e-05 9.99953019e-01 -3.07653180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:-11.64, Z:-3.08 [[ 9.63311517e-01 2.68216757e-01 9.52323660e-03 1.23996809e+02] [-2.68204132e-01 9.63358588e-01 -2.60285145e-03 -1.16434440e+01] [-9.87242014e-03 -4.68146296e-05 9.99951265e-01 -3.07681712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:-11.65, Z:-3.08 [[ 9.62860639e-01 2.69802204e-01 1.03033998e-02 1.24023132e+02] [-2.69787527e-01 9.62915763e-01 -2.81499747e-03 -1.16515583e+01] [-1.06807986e-02 -6.92784962e-05 9.99942956e-01 -3.07725677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:-11.66, Z:-3.08 [[ 9.62643769e-01 2.70543945e-01 1.10882007e-02 1.24050684e+02] [-2.70527005e-01 9.62707623e-01 -3.02874127e-03 -1.16581895e+01] [-1.14941029e-02 -8.40588015e-05 9.99933937e-01 -3.07791945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.08, Y:-11.67, Z:-3.08 [[ 9.62470654e-01 2.71146038e-01 1.14046487e-02 1.24078163e+02] [-2.71128169e-01 9.62538216e-01 -3.11427790e-03 -1.16650419e+01] [-1.18218343e-02 -9.47204410e-05 9.99930115e-01 -3.07850153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:-11.67, Z:-3.08 [[ 9.62270816e-01 2.71888831e-01 1.05518011e-02 1.24105315e+02] [-2.71873587e-01 9.62328662e-01 -2.88072695e-03 -1.16732819e+01] [-1.09375381e-02 -9.67165479e-05 9.99940179e-01 -3.07984860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:-11.68, Z:-3.08 [[ 9.62147260e-01 2.72327998e-01 1.04934288e-02 1.24132781e+02] [-2.72312956e-01 9.62204475e-01 -2.86403177e-03 -1.16805102e+01] [-1.08767802e-02 -1.01876291e-04 9.99940841e-01 -3.08108786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:-11.69, Z:-3.08 [[ 9.62130696e-01 2.72394575e-01 1.02819866e-02 1.24159934e+02] [-2.72380145e-01 9.62185629e-01 -2.80558899e-03 -1.16880111e+01] [-1.06574069e-02 -1.01265711e-04 9.99943203e-01 -3.08123980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:-11.69, Z:-3.08 [[ 9.62174573e-01 2.72213511e-01 1.09497117e-02 1.24187295e+02] [-2.72197145e-01 9.62236870e-01 -2.98685789e-03 -1.16946269e+01] [-1.13492793e-02 -1.06601535e-04 9.99935589e-01 -3.08149531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.22, Y:-11.70, Z:-3.08 [[ 9.62251776e-01 2.71907411e-01 1.17422274e-02 1.24215466e+02] [-2.71888582e-01 9.62323411e-01 -3.20174523e-03 -1.17000961e+01] [-1.21703986e-02 -1.11692532e-04 9.99925932e-01 -3.08192979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:-11.71, Z:-3.08 [[ 9.62401327e-01 2.71364054e-01 1.20513785e-02 1.24243360e+02] [-2.71344186e-01 9.62476773e-01 -3.28552073e-03 -1.17054324e+01] [-1.24907441e-02 -1.08081978e-04 9.99921982e-01 -3.08287253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.27, Y:-11.71, Z:-3.08 [[ 9.62984974e-01 2.69342823e-01 1.06950302e-02 1.24270562e+02] [-2.69327054e-01 9.63044360e-01 -2.91535337e-03 -1.17108905e+01] [-1.10850180e-02 -7.30194958e-05 9.99938557e-01 -3.08488391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:-11.72, Z:-3.09 [[ 9.63316069e-01 2.68154030e-01 1.07502622e-02 1.24297449e+02] [-2.68138035e-01 9.63376049e-01 -2.92943963e-03 -1.17179618e+01] [-1.11420862e-02 -6.05779199e-05 9.99937923e-01 -3.08553886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:-11.72, Z:-3.09 [[ 9.63938720e-01 2.65860115e-01 1.18551174e-02 1.24323645e+02] [-2.65840498e-01 9.64011617e-01 -3.22986454e-03 -1.17244867e+01] [-1.22871631e-02 -3.81788286e-05 9.99924509e-01 -3.08696567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.35, Y:-11.73, Z:-3.09 [[ 9.64210450e-01 2.64890586e-01 1.14536080e-02 1.24351531e+02] [-2.64872221e-01 9.64278475e-01 -3.11920241e-03 -1.17316959e+01] [-1.18707150e-02 -2.61750500e-05 9.99929540e-01 -3.08764206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:-11.74, Z:-3.09 [[ 9.64447322e-01 2.64067144e-01 1.04836159e-02 1.24378364e+02] [-2.64051713e-01 9.64504299e-01 -2.85474913e-03 -1.17378632e+01] [-1.08653381e-02 -1.49615981e-05 9.99940970e-01 -3.08875349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.41, Y:-11.74, Z:-3.09 [[ 9.64982416e-01 2.62170307e-01 8.69873123e-03 1.24405964e+02] [-2.62159609e-01 9.65021622e-01 -2.36839426e-03 -1.17415004e+01] [-9.01538637e-03 5.00283884e-06 9.99959361e-01 -3.09108488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.43, Y:-11.75, Z:-3.09 [[ 9.65304854e-01 2.61011374e-01 7.72014844e-03 1.24433401e+02] [-2.61002912e-01 9.65335725e-01 -2.10181827e-03 -1.17474294e+01] [-8.00113357e-03 1.39141573e-05 9.99967990e-01 -3.09219747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:-11.76, Z:-3.09 [[ 9.65839239e-01 2.59058009e-01 6.59636463e-03 1.24459761e+02] [-2.59051788e-01 9.65861764e-01 -1.79540116e-03 -1.17552516e+01] [-6.83628943e-03 2.52688422e-05 9.99976632e-01 -3.09372648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.49, Y:-11.76, Z:-3.09 [[ 9.65995162e-01 2.58469013e-01 6.86408444e-03 1.24486904e+02] [-2.58462265e-01 9.66019549e-01 -1.86797003e-03 -1.17625252e+01] [-7.11365212e-03 3.03432001e-05 9.99974697e-01 -3.09378807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:-11.77, Z:-3.09 [[ 9.65852464e-01 2.58975290e-01 7.79855421e-03 1.24514040e+02] [-2.58966601e-01 9.65883947e-01 -2.12162164e-03 -1.17653485e+01] [-8.08194590e-03 2.96084094e-05 9.99967340e-01 -3.09328681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.54, Y:-11.77, Z:-3.09 [[ 9.65762062e-01 2.59323598e-01 7.41022767e-03 1.24541745e+02] [-2.59315768e-01 9.65790490e-01 -2.01520817e-03 -1.17708212e+01] [-7.67931845e-03 2.46227114e-05 9.99970513e-01 -3.09378978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:-11.78, Z:-3.09 [[ 9.65775140e-01 2.59292640e-01 6.76058226e-03 1.24569089e+02] [-2.59286126e-01 9.65798802e-01 -1.83820366e-03 -1.17764954e+01] [-7.00599493e-03 2.23662154e-05 9.99975457e-01 -3.09475032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.60, Y:-11.78, Z:-3.10 [[ 9.65817319e-01 2.59136253e-01 6.73120047e-03 1.24595963e+02] [-2.59129793e-01 9.65840775e-01 -1.82990219e-03 -1.17815259e+01] [-6.97546188e-03 2.30966479e-05 9.99975671e-01 -3.09589540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:-11.78, Z:-3.10 [[ 9.66388507e-01 2.56969146e-01 7.75312341e-03 1.24623069e+02] [-2.56960514e-01 9.66419607e-01 -2.10668712e-03 -1.17843098e+01] [-8.03412406e-03 4.36316466e-05 9.99967725e-01 -3.09824566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:-11.79, Z:-3.10 [[ 9.66812313e-01 2.55376856e-01 7.52419066e-03 1.24650110e+02] [-2.55368684e-01 9.66841589e-01 -2.04368258e-03 -1.17911081e+01] [-7.79660969e-03 5.44148089e-05 9.99969604e-01 -3.09898704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.68, Y:-11.80, Z:-3.10 [[ 9.67922975e-01 2.51163332e-01 6.48805105e-03 1.24677033e+02] [-2.51157163e-01 9.67944717e-01 -1.76200008e-03 -1.17989696e+01] [-6.72262455e-03 7.59598609e-05 9.99977400e-01 -3.10030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:-11.81, Z:-3.10 [[ 9.68441442e-01 2.49157733e-01 6.44962380e-03 1.24703532e+02] [-2.49151594e-01 9.68462914e-01 -1.75128229e-03 -1.18057166e+01] [-6.68256699e-03 8.90802924e-05 9.99977667e-01 -3.10096092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.73, Y:-11.81, Z:-3.10 [[ 9.68944594e-01 2.47201637e-01 6.14205748e-03 1.24729785e+02] [-2.47196033e-01 9.68964056e-01 -1.66731028e-03 -1.18111193e+01] [-6.36359475e-03 9.72390372e-05 9.99979747e-01 -3.10183617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:-11.82, Z:-3.10 [[ 9.69452886e-01 2.45227213e-01 4.97154300e-03 1.24757924e+02] [-2.45223518e-01 9.69465629e-01 -1.34925495e-03 -1.18159577e+01] [-5.15061409e-03 8.88998380e-05 9.99986732e-01 -3.10331166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:-11.82, Z:-3.10 [[ 9.69562165e-01 2.44802586e-01 4.57185688e-03 1.24784914e+02] [-2.44799457e-01 9.69572940e-01 -1.24068710e-03 -1.18230850e+01] [-4.73647213e-03 8.37351952e-05 9.99988779e-01 -3.10415376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:-11.83, Z:-3.10 [[ 9.69586908e-01 2.44727219e-01 3.13289543e-03 1.24811699e+02] [-2.44725748e-01 9.69591968e-01 -8.50740438e-04 -1.18269770e+01] [-3.24582959e-03 5.81666149e-05 9.99994731e-01 -3.10460054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:-11.83, Z:-3.11 [[ 9.69516247e-01 2.45014069e-01 2.52046903e-03 1.24839068e+02] [-2.45013118e-01 9.69519522e-01 -6.84317843e-04 -1.18313839e+01] [-2.61131143e-03 4.59092911e-05 9.99996589e-01 -3.10529377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:-11.84, Z:-3.11 [[ 9.69564722e-01 2.44819949e-01 2.72823537e-03 1.24866995e+02] [-2.44818834e-01 9.69568559e-01 -7.40412551e-04 -1.18370260e+01] [-2.82647900e-03 4.99544867e-05 9.99996004e-01 -3.10585433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:-11.84, Z:-3.11 [[ 9.69665050e-01 2.44390487e-01 4.79389666e-03 1.24893892e+02] [-2.44387049e-01 9.69676896e-01 -1.29932837e-03 -1.18449657e+01] [-4.96607432e-03 8.83470528e-05 9.99987665e-01 -3.10568208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.92, Y:-11.85, Z:-3.11 [[ 9.69638303e-01 2.44481568e-01 5.50673321e-03 1.24921532e+02] [-2.44477037e-01 9.69653935e-01 -1.49183747e-03 -1.18512200e+01] [-5.70435229e-03 1.00272937e-04 9.99983725e-01 -3.10588606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.95, Y:-11.85, Z:-3.11 [[ 9.69363144e-01 2.45538462e-01 6.77929758e-03 1.24950109e+02] [-2.45531627e-01 9.69386842e-01 -1.83565851e-03 -1.18542082e+01] [-7.02248664e-03 1.14887735e-04 9.99975335e-01 -3.10725061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:-11.86, Z:-3.11 [[ 9.69088200e-01 2.46611846e-01 7.11742754e-03 1.24975804e+02] [-2.46604344e-01 9.69114330e-01 -1.92676037e-03 -1.18607826e+01] [-7.37276295e-03 1.12012188e-04 9.99972815e-01 -3.10829879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:-11.87, Z:-3.11 [[ 9.68874579e-01 2.47453465e-01 6.98803458e-03 1.25003242e+02] [-2.47446262e-01 9.68899774e-01 -1.89095703e-03 -1.18680400e+01] [-7.23862899e-03 1.02937163e-04 9.99973795e-01 -3.10913058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.03, Y:-11.87, Z:-3.11 [[ 9.68339598e-01 2.49555735e-01 6.35284468e-03 1.25030258e+02] [-2.49549828e-01 9.68360433e-01 -1.71893952e-03 -1.18725073e+01] [-6.58081464e-03 7.91659121e-05 9.99978343e-01 -3.10934229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:-11.88, Z:-3.11 [[ 9.68122918e-01 2.50387709e-01 6.63402468e-03 1.25057506e+02] [-2.50403790e-01 9.68139992e-01 1.70232142e-03 -1.18792675e+01] [-5.99642424e-03 -3.30924131e-03 9.99976546e-01 -3.10793916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.09, Y:-11.88, Z:-3.11 [[ 9.67811249e-01 2.51636622e-01 4.51627828e-03 1.25086587e+02] [-2.51615858e-01 9.67815767e-01 -4.70124995e-03 -1.18791573e+01] [-5.55393198e-03 3.41355535e-03 9.99978751e-01 -3.11102999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.11, Y:-11.89, Z:-3.11 [[ 9.67809312e-01 2.51639056e-01 4.78750898e-03 1.25112334e+02] [-2.51635733e-01 9.67821152e-01 -1.29414991e-03 -1.18877929e+01] [-4.95911112e-03 4.77820024e-05 9.99987702e-01 -3.11240427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:-11.89, Z:-3.11 [[ 9.67917278e-01 2.51225254e-01 4.69189090e-03 1.25139525e+02] [-2.51222060e-01 9.67928649e-01 -1.26768208e-03 -1.18942369e+01] [-4.85988937e-03 4.83048921e-05 9.99988190e-01 -3.11326841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:-11.90, Z:-3.11 [[ 9.68073341e-01 2.50612100e-01 5.25185979e-03 1.25166029e+02] [-2.50608091e-01 9.68087585e-01 -1.41857215e-03 -1.19004972e+01] [-5.43977161e-03 5.71233273e-05 9.99985203e-01 -3.11426519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.19, Y:-11.91, Z:-3.12 [[ 9.68356771e-01 2.49502030e-01 5.82236917e-03 1.25192235e+02] [-2.49497088e-01 9.68374273e-01 -1.57189402e-03 -1.19080539e+01] [-6.03042326e-03 6.94900609e-05 9.99981814e-01 -3.11542930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.22, Y:-11.92, Z:-3.12 [[ 9.68429411e-01 2.49222702e-01 5.70271232e-03 1.25218763e+02] [-2.49217961e-01 9.68446199e-01 -1.53892029e-03 -1.19161603e+01] [-5.90630395e-03 6.91173295e-05 9.99982555e-01 -3.11651480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.24, Y:-11.92, Z:-3.12 [[ 9.67999091e-01 2.50903488e-01 5.01996071e-03 1.25244810e+02] [-2.50899836e-01 9.68012106e-01 -1.35470868e-03 -1.19247281e+01] [-5.19928387e-03 5.18494540e-05 9.99986482e-01 -3.11830590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:-11.93, Z:-3.12 [[ 9.67629400e-01 2.52347556e-01 3.74899927e-03 1.25271402e+02] [-2.52345526e-01 9.67636662e-01 -1.01278533e-03 -1.19307692e+01] [-3.88324304e-03 3.39576677e-05 9.99992460e-01 -3.11936424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.30, Y:-11.94, Z:-3.12 [[ 9.67195504e-01 2.54018909e-01 2.69279577e-03 1.25299438e+02] [-2.54017870e-01 9.67199252e-01 -7.26727012e-04 -1.19360233e+01] [-2.78907246e-03 1.88688506e-05 9.99996110e-01 -3.12050965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.33, Y:-11.94, Z:-3.12 [[ 9.66786707e-01 2.55574508e-01 2.26593479e-03 1.25326309e+02] [-2.55573776e-01 9.66789362e-01 -6.11878263e-04 -1.19413751e+01] [-2.34706213e-03 1.24422613e-05 9.99997246e-01 -3.12096141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.35, Y:-11.95, Z:-3.12 [[ 9.66099155e-01 2.58168618e-01 1.17782210e-03 1.25353764e+02] [-2.58168422e-01 9.66099873e-01 -3.18632576e-04 -1.19486854e+01] [-1.22015471e-03 3.75419161e-06 9.99999256e-01 -3.12196922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.38, Y:-11.95, Z:-3.12 [[ 9.65709804e-01 2.59623908e-01 1.19593701e-05 1.25381249e+02] [-2.59623908e-01 9.65709805e-01 -4.93251717e-06 -1.19545394e+01] [-1.28298806e-05 1.65844178e-06 1.00000000e+00 -3.12241821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.41, Y:-11.96, Z:-3.12 [[ 9.65755860e-01 2.59452535e-01 1.13129266e-05 1.25408807e+02] [-2.59452535e-01 9.65755860e-01 -7.33700121e-06 -1.19617494e+01] [-1.28291289e-05 4.15058443e-06 1.00000000e+00 -3.12308421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.44, Y:-11.96, Z:-3.12 [[ 9.64862955e-01 2.62753193e-01 -4.88217159e-04 1.25437408e+02] [-2.62753161e-01 9.64863078e-01 1.29475624e-04 -1.19633871e+01] [ 5.05082844e-04 3.35436847e-06 9.99999872e-01 -3.12492955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.46, Y:-11.97, Z:-3.13 [[ 9.64621007e-01 2.63640492e-01 -6.38032140e-05 1.25464029e+02] [-2.63640491e-01 9.64621009e-01 1.51374588e-05 -1.19688345e+01] [ 6.55367675e-05 2.21919996e-06 9.99999998e-01 -3.12599066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:-11.98, Z:-3.13 [[ 9.64452716e-01 2.64254816e-01 5.92404848e-04 1.25491158e+02] [-2.64254767e-01 9.64452898e-01 -1.60851920e-04 -1.19750743e+01] [-6.13852467e-04 -1.41173421e-06 9.99999812e-01 -3.12698565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.52, Y:-11.98, Z:-3.13 [[ 9.64217671e-01 2.65106584e-01 1.66822346e-03 1.25518958e+02] [-2.65106202e-01 9.64219114e-01 -4.49920295e-04 -1.19758955e+01] [-1.72780978e-03 -8.43528815e-06 9.99998507e-01 -3.12752696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:-11.98, Z:-3.13 [[ 9.64308502e-01 2.64776481e-01 1.59005760e-03 1.25546314e+02] [-2.64776134e-01 9.64309813e-01 -4.28765042e-04 -1.19778087e+01] [-1.64683504e-03 -7.54752811e-06 9.99998644e-01 -3.12824190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.58, Y:-11.98, Z:-3.13 [[ 9.64955371e-01 2.62410410e-01 1.38161609e-03 1.25575164e+02] [-2.62410142e-01 9.64956360e-01 -3.75054948e-04 -1.19792129e+01] [-1.43161756e-03 -6.38787549e-07 9.99998975e-01 -3.12963588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:-11.98, Z:-3.13 [[ 9.65531049e-01 2.60284253e-01 1.37865905e-03 1.25602339e+02] [-2.60283984e-01 9.65532034e-01 -3.73995435e-04 -1.19845616e+01] [-1.42848460e-03 2.26133432e-06 9.99998980e-01 -3.13062444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-11.99, Z:-3.13 [[ 9.66129309e-01 2.58055795e-01 1.16866435e-03 1.25629644e+02] [-2.58055599e-01 9.66130015e-01 -3.17558780e-04 -1.19895950e+01] [-1.21102959e-03 5.22246619e-06 9.99999267e-01 -3.13131606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.66, Y:-11.99, Z:-3.13 [[ 9.66743340e-01 2.55747513e-01 7.23656467e-04 1.25656552e+02] [-2.55747438e-01 9.66743611e-01 -1.95719740e-04 -1.19943028e+01] [-7.49645103e-04 4.13746774e-06 9.99999719e-01 -3.13186363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:-12.00, Z:-3.13 [[ 9.67698121e-01 2.52099252e-01 2.51282025e-03 1.25683981e+02] [-2.52106829e-01 9.67693502e-01 3.38127651e-03 -1.20009183e+01] [-1.57922254e-03 -3.90555407e-03 9.99991126e-01 -3.13323197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.71, Y:-12.00, Z:-3.13 [[ 9.68046895e-01 2.50768874e-01 -4.25639594e-04 1.25712280e+02] [-2.50768580e-01 9.68039089e-01 -3.92956997e-03 -1.20015749e+01] [-5.73378075e-04 3.91074505e-03 9.99992189e-01 -3.13349549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:-12.01, Z:-3.13 [[ 9.68270026e-01 2.49905984e-01 3.94041464e-04 1.25738886e+02] [-2.49905961e-01 9.68270106e-01 -1.07101734e-04 -1.20087688e+01] [-4.08303935e-04 5.23008803e-06 9.99999917e-01 -3.13411308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.77, Y:-12.01, Z:-3.13 [[ 9.68337133e-01 2.49646144e-01 -2.41069876e-05 1.25767019e+02] [-2.49646144e-01 9.68337133e-01 4.43075093e-06 -1.20092615e+01] [ 2.44498109e-05 1.72775584e-06 1.00000000e+00 -3.13478895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:-12.01, Z:-3.14 [[ 9.68361881e-01 2.49549627e-01 -5.00658259e-04 1.25794344e+02] [-2.49549593e-01 9.68362011e-01 1.29004795e-04 -1.20137131e+01] [ 5.17011537e-04 1.57393912e-08 9.99999866e-01 -3.13593504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.82, Y:-12.02, Z:-3.14 [[ 9.68695223e-01 2.48248866e-01 -1.43704004e-03 1.25821207e+02] [-2.48248573e-01 9.68696289e-01 3.81669593e-04 -1.20184273e+01] [ 1.48680440e-03 -1.29783716e-05 9.99998895e-01 -3.13672022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:-12.03, Z:-3.14 [[ 9.69159905e-01 2.46431745e-01 -6.88508916e-04 1.25848469e+02] [-2.46431680e-01 9.69160149e-01 1.79130884e-04 -1.20260501e+01] [ 7.11418940e-04 -3.93606126e-06 9.99999747e-01 -3.13715823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.88, Y:-12.03, Z:-3.14 [[ 9.69798412e-01 2.43907583e-01 -3.60883046e-04 1.25875913e+02] [-2.43907566e-01 9.69798480e-01 9.16130607e-05 -1.20336497e+01] [ 3.72328949e-04 -8.24095698e-07 9.99999931e-01 -3.13760290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.90, Y:-12.04, Z:-3.14 [[ 9.70483879e-01 2.41165978e-01 -1.03268477e-04 1.25901602e+02] [-2.41165977e-01 9.70483885e-01 2.55230019e-05 -1.20414310e+01] [ 1.06375672e-04 1.35181234e-07 9.99999994e-01 -3.13785236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:-12.05, Z:-3.14 [[ 9.71533160e-01 2.36903349e-01 3.48213815e-04 1.25928009e+02] [-2.36903331e-01 9.71533223e-01 -9.45396143e-05 -1.20526562e+01] [-3.60698042e-04 9.35535761e-06 9.99999935e-01 -3.13779395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:-12.06, Z:-3.14 [[ 9.71809711e-01 2.35766160e-01 4.50115550e-04 1.25953473e+02] [-2.35766129e-01 9.71809816e-01 -1.21935644e-04 -1.20611058e+01] [-4.66175008e-04 1.23762422e-05 9.99999891e-01 -3.13903103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:-12.07, Z:-3.14 [[ 9.71708595e-01 2.36181059e-01 9.56256179e-04 1.25979029e+02] [-2.36180918e-01 9.71709065e-01 -2.59223531e-04 -1.20732052e+01] [-9.90426486e-04 2.60402710e-05 9.99999509e-01 -3.14020540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:-12.09, Z:-3.14 [[ 9.71393717e-01 2.37465030e-01 2.14619919e-03 1.26004101e+02] [-2.37474722e-01 9.71351811e-01 9.02303298e-03 -1.20882040e+01] [ 5.79403326e-05 -9.27458560e-03 9.99956988e-01 -3.13555407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-12.09, Z:-3.14 [[ 9.70100042e-01 2.42693841e-01 -2.36825214e-03 1.26033582e+02] [-2.42705361e-01 9.70058869e-01 -8.93862904e-03 -1.20873920e+01] [ 1.27993780e-04 9.24615190e-03 9.99957245e-01 -3.14215741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:-12.10, Z:-3.14 [[ 9.69401392e-01 2.45479924e-01 -7.39763889e-04 1.26059225e+02] [-2.45479849e-01 9.69401675e-01 1.91899035e-04 -1.21009793e+01] [ 7.64235713e-04 -4.43006380e-06 9.99999708e-01 -3.14327573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.09, Y:-12.11, Z:-3.14 [[ 9.68573439e-01 2.48724344e-01 -1.30141389e-03 1.26085076e+02] [-2.48724107e-01 9.68574313e-01 3.43718753e-04 -1.21089208e+01] [ 1.34600728e-03 -9.22384747e-06 9.99999094e-01 -3.14399130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:-12.12, Z:-3.14 [[ 9.67680179e-01 2.52172994e-01 -1.96264963e-03 1.26111722e+02] [-2.52172459e-01 9.67682169e-01 5.19521846e-04 -1.21165086e+01] [ 2.03023043e-03 -7.80481000e-06 9.99997939e-01 -3.14422326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.14, Y:-12.12, Z:-3.15 [[ 9.65960568e-01 2.58665060e-01 -3.54513507e-03 1.26137884e+02] [-2.58663355e-01 9.65967073e-01 9.39225000e-04 -1.21228168e+01] [ 3.66742844e-03 9.74221787e-06 9.99993275e-01 -3.14509641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.17, Y:-12.13, Z:-3.15 [[ 9.65151667e-01 2.61656266e-01 -4.27283456e-03 1.26165259e+02] [-2.61653832e-01 9.65161125e-01 1.12907446e-03 -1.21299627e+01] [ 4.41940322e-03 2.82754329e-05 9.99990234e-01 -3.14599995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.19, Y:-12.14, Z:-3.15 [[ 9.64496843e-01 2.64055476e-01 -4.53262760e-03 1.26192212e+02] [-2.64052766e-01 9.64507493e-01 1.19708068e-03 -1.21369077e+01] [ 4.68784900e-03 4.22723150e-05 9.99989011e-01 -3.14660562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:-12.14, Z:-3.15 [[ 9.63369282e-01 2.68153168e-01 -3.67502831e-03 1.26219567e+02] [-2.68151423e-01 9.63376290e-01 9.68669812e-04 -1.21426575e+01] [ 3.80018701e-03 5.22773294e-05 9.99992778e-01 -3.14671900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.25, Y:-12.15, Z:-3.15 [[ 9.62980894e-01 2.69550312e-01 -3.22906894e-03 1.26246321e+02] [-2.69548967e-01 9.62986307e-01 8.52973321e-04 -1.21481867e+01] [ 3.33946840e-03 4.89951882e-05 9.99994423e-01 -3.14718931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.27, Y:-12.15, Z:-3.15 [[ 9.62781383e-01 2.70269388e-01 -2.54294775e-03 1.26273933e+02] [-2.70268566e-01 9.62784740e-01 6.68128366e-04 -1.21525265e+01] [ 2.62888593e-03 4.40172897e-05 9.99996544e-01 -3.14812668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.30, Y:-12.16, Z:-3.15 [[ 9.62917669e-01 2.69788798e-01 -1.88870663e-03 1.26300616e+02] [-2.69788341e-01 9.62919521e-01 4.97521860e-04 -1.21589822e+01] [ 1.95289831e-03 3.04784396e-05 9.99998093e-01 -3.14892356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.33, Y:-12.17, Z:-3.15 [[ 9.63793856e-01 2.66636466e-01 -2.52927060e-03 1.26327321e+02] [-2.66635642e-01 9.63797175e-01 6.63716264e-04 -1.21667003e+01] [ 2.61467482e-03 3.47080326e-05 9.99996581e-01 -3.15068167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.35, Y:-12.17, Z:-3.15 [[ 9.64446786e-01 2.64253960e-01 -3.49883078e-03 1.26353367e+02] [-2.64252353e-01 9.64453132e-01 9.22330321e-04 -1.21738278e+01] [ 3.61818775e-03 3.50357528e-05 9.99993454e-01 -3.15220293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.38, Y:-12.18, Z:-3.15 [[ 9.65206331e-01 2.61457895e-01 -4.06284150e-03 1.26379214e+02] [-2.61455703e-01 9.65214882e-01 1.07098268e-03 -1.21812685e+01] [ 4.20153196e-03 2.85338145e-05 9.99991173e-01 -3.15282588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.41, Y:-12.19, Z:-3.15 [[ 9.65889052e-01 2.58912721e-01 -4.74776272e-03 1.26406308e+02] [-2.58909712e-01 9.65900721e-01 1.24843586e-03 -1.21873396e+01] [ 4.90910336e-03 2.33913472e-05 9.99987950e-01 -3.15345883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:-12.19, Z:-3.15 [[ 9.66595635e-01 2.56247052e-01 -5.50708030e-03 1.26433395e+02] [-2.56242952e-01 9.66611322e-01 1.44952498e-03 -1.21893128e+01] [ 5.69464267e-03 1.00459935e-05 9.99983785e-01 -3.15445618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-12.19, Z:-3.16 [[ 9.66649394e-01 2.56026880e-01 -6.25984284e-03 1.26460726e+02] [-2.56021594e-01 9.66669663e-01 1.64525112e-03 -1.21940972e+01] [ 6.47242868e-03 1.22739397e-05 9.99979054e-01 -3.15559809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.49, Y:-12.20, Z:-3.16 [[ 9.66289732e-01 2.57343306e-01 -7.65356135e-03 1.26487200e+02] [-2.57335451e-01 9.66320041e-01 2.01083399e-03 -1.22020613e+01] [ 7.91326439e-03 2.64844221e-05 9.99968689e-01 -3.15609011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.51, Y:-12.21, Z:-3.16 [[ 9.65937154e-01 2.58672481e-01 -7.34592876e-03 1.26512606e+02] [-2.58665269e-01 9.65965086e-01 1.93183892e-03 -1.22107120e+01] [ 7.59562427e-03 3.41016534e-05 9.99971152e-01 -3.15605496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.54, Y:-12.22, Z:-3.16 [[ 9.65444814e-01 2.60511596e-01 -7.07243312e-03 1.26538488e+02] [-2.60504965e-01 9.65470717e-01 1.85926905e-03 -1.22174740e+01] [ 7.31258823e-03 4.73822795e-05 9.99973262e-01 -3.15622295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.57, Y:-12.22, Z:-3.16 [[ 9.64784066e-01 2.62921667e-01 -7.99396581e-03 1.26566111e+02] [-2.62913313e-01 9.64817180e-01 2.09738440e-03 -1.22210898e+01] [ 8.26416336e-03 7.81969799e-05 9.99965848e-01 -3.15645765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.60, Y:-12.22, Z:-3.16 [[ 9.63071983e-01 2.69021036e-01 -1.09561699e-02 1.26595070e+02] [-2.69005699e-01 9.63134285e-01 2.87802289e-03 -1.22164013e+01] [ 1.13265115e-02 1.75528914e-04 9.99935838e-01 -3.15980610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.62, Y:-12.22, Z:-3.16 [[ 9.62315554e-01 2.71665270e-01 -1.21142954e-02 1.26623049e+02] [-2.71646788e-01 9.62391774e-01 3.17740770e-03 -1.22206084e+01] [ 1.25218895e-02 2.33140568e-04 9.99921571e-01 -3.16272258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.65, Y:-12.23, Z:-3.16 [[ 9.62428227e-01 2.71278497e-01 -1.18272773e-02 1.26649909e+02] [-2.71260884e-01 9.62500871e-01 3.09946350e-03 -1.22284500e+01] [ 1.22245825e-02 2.25266525e-04 9.99925252e-01 -3.16308916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.68, Y:-12.24, Z:-3.16 [[ 9.62772877e-01 2.70080398e-01 -1.11788013e-02 1.26675873e+02] [-2.70064567e-01 9.62837753e-01 2.93092078e-03 -1.22370063e+01] [ 1.15549561e-02 1.97187086e-04 9.99933220e-01 -3.16306591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.70, Y:-12.24, Z:-3.16 [[ 9.63298162e-01 2.68209176e-01 -1.09767780e-02 1.26702701e+02] [-2.68193845e-01 9.63360684e-01 2.87306346e-03 -1.22447803e+01] [ 1.13451784e-02 1.76287557e-04 9.99935626e-01 -3.16314487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.73, Y:-12.25, Z:-3.16 [[ 9.64369030e-01 2.64368852e-01 -1.00738920e-02 1.26730412e+02] [-2.64355756e-01 9.64421638e-01 2.63427700e-03 -1.22514230e+01] [ 1.04119002e-02 1.22676167e-04 9.99945787e-01 -3.16243918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:-12.26, Z:-3.16 [[ 9.64796166e-01 2.62817867e-01 -9.75325548e-03 1.26757456e+02] [-2.62805496e-01 9.64845458e-01 2.55203443e-03 -1.22557990e+01] [ 1.00811045e-02 1.01016116e-04 9.99949179e-01 -3.16232608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.79, Y:-12.26, Z:-3.16 [[ 9.65080032e-01 2.61782820e-01 -9.50197551e-03 1.26785214e+02] [-2.61771073e-01 9.65126803e-01 2.48166998e-03 -1.22590755e+01] [ 9.82026982e-03 9.23321806e-05 9.99951776e-01 -3.16309317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.81, Y:-12.27, Z:-3.16 [[ 9.65504559e-01 2.60261016e-01 -8.07158529e-03 1.26811707e+02] [-2.60252477e-01 9.65538295e-01 2.10928351e-03 -1.22654962e+01] [ 8.34238897e-03 6.41272190e-05 9.99965200e-01 -3.16359330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.84, Y:-12.27, Z:-3.16 [[ 9.65686867e-01 2.59583664e-01 -8.07438799e-03 1.26838364e+02] [-2.59575129e-01 9.65720621e-01 2.10593134e-03 -1.22737249e+01] [ 8.34426835e-03 6.22400717e-05 9.99965184e-01 -3.16470979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.87, Y:-12.28, Z:-3.17 [[ 9.65850120e-01 2.58940341e-01 -9.13482116e-03 1.26866013e+02] [-2.58929402e-01 9.65893315e-01 2.38098987e-03 -1.22804523e+01] [ 9.43979702e-03 6.55944284e-05 9.99955442e-01 -3.16549376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.89, Y:-12.29, Z:-3.17 [[ 9.65815588e-01 2.59063178e-01 -9.30161858e-03 1.26893217e+02] [-2.59051860e-01 9.65860376e-01 2.42251886e-03 -1.22882239e+01] [ 9.61165025e-03 6.98951233e-05 9.99953805e-01 -3.16606626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.92, Y:-12.30, Z:-3.17 [[ 9.65450325e-01 2.60474366e-01 -7.66642622e-03 1.26919698e+02] [-2.60466742e-01 9.65480761e-01 1.99416603e-03 -1.22972624e+01] [ 7.92121616e-03 7.15808117e-05 9.99968624e-01 -3.16530519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.95, Y:-12.30, Z:-3.17 [[ 9.65166355e-01 2.61522607e-01 -7.73517443e-03 1.26947230e+02] [-2.61514892e-01 9.65197347e-01 2.01044456e-03 -1.23037164e+01] [ 7.99174654e-03 8.24498611e-05 9.99968062e-01 -3.16535348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:-12.31, Z:-3.17 [[ 9.64760508e-01 2.62990845e-01 -8.54271254e-03 1.26974918e+02] [-2.62981505e-01 9.64798323e-01 2.21902173e-03 -1.23097913e+01] [ 8.82557713e-03 1.05750868e-04 9.99961048e-01 -3.16627156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.00, Y:-12.32, Z:-3.17 [[ 9.64277172e-01 2.64729436e-01 -9.37340336e-03 1.27001380e+02] [-2.64718250e-01 9.64322720e-01 2.43711792e-03 -1.23161074e+01] [ 9.68416267e-03 1.31253758e-04 9.99953099e-01 -3.16682300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.03, Y:-12.32, Z:-3.17 [[ 9.63423628e-01 2.67888429e-01 -7.12055404e-03 1.27029097e+02] [-2.67882092e-01 9.63449933e-01 1.84701193e-03 -1.23220026e+01] [ 7.35509044e-03 1.28013983e-04 9.99972943e-01 -3.16601892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.06, Y:-12.33, Z:-3.17 [[ 9.62993011e-01 2.69473518e-01 -5.33702809e-03 1.27056163e+02] [-2.69469995e-01 9.63007794e-01 1.38211275e-03 -1.23280544e+01] [ 5.51204243e-03 1.07204012e-04 9.99984803e-01 -3.16572037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:-12.33, Z:-3.17 [[ 9.62549421e-01 2.71062592e-01 -4.86664110e-03 1.27083563e+02] [-2.71059690e-01 9.62561717e-01 1.25890111e-03 -1.23340055e+01] [ 5.02568341e-03 1.07395696e-04 9.99987365e-01 -3.16587598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-12.34, Z:-3.17 [[ 9.61685301e-01 2.74075175e-01 -6.64689618e-03 1.27111873e+02] [-2.74069831e-01 9.61708256e-01 1.71970719e-03 -1.23376575e+01] [ 6.86370398e-03 1.67896585e-04 9.99976430e-01 -3.16682946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:-12.34, Z:-3.17 [[ 9.61717939e-01 2.73960633e-01 -6.64667900e-03 1.27139482e+02] [-2.73955280e-01 9.61740892e-01 1.72054351e-03 -1.23446548e+01] [ 6.86374418e-03 1.66215248e-04 9.99976430e-01 -3.16749528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.17, Y:-12.35, Z:-3.17 [[ 9.61364632e-01 2.75183445e-01 -7.21911589e-03 1.27167269e+02] [-2.75177187e-01 9.61391718e-01 1.86578103e-03 -1.23483829e+01] [ 7.45383027e-03 1.92840113e-04 9.99972201e-01 -3.16848720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.19, Y:-12.35, Z:-3.17 [[ 9.60895382e-01 2.76835485e-01 -6.49449108e-03 1.27194252e+02] [-2.76830447e-01 9.60917312e-01 1.68006916e-03 -1.23498446e+01] [ 6.70577168e-03 1.83502176e-04 9.99977499e-01 -3.16986377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.22, Y:-12.36, Z:-3.17 [[ 9.60845782e-01 2.77013421e-01 -6.24080107e-03 1.27221132e+02] [-2.77008800e-01 9.60866032e-01 1.61032744e-03 -1.23559488e+01] [ 6.44265608e-03 1.81480487e-04 9.99979229e-01 -3.17050038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.25, Y:-12.36, Z:-3.17 [[ 9.60810785e-01 2.77133457e-01 -6.29945769e-03 1.27247937e+02] [-2.77128747e-01 9.60831418e-01 1.62613045e-03 -1.23620468e+01] [ 6.50337202e-03 1.83357140e-04 9.99978836e-01 -3.17025647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:-12.37, Z:-3.17 [[ 9.60733744e-01 2.77396620e-01 -6.46442525e-03 1.27274119e+02] [-2.77391660e-01 9.60755473e-01 1.66947362e-03 -1.23670324e+01] [ 6.67383828e-03 1.89258013e-04 9.99977712e-01 -3.17008618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.30, Y:-12.37, Z:-3.17 [[ 9.60869807e-01 2.76931474e-01 -6.17842898e-03 1.27302805e+02] [-2.76926957e-01 9.60889653e-01 1.59193047e-03 -1.23667180e+01] [ 6.37764414e-03 1.81335611e-04 9.99979646e-01 -3.17006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.33, Y:-12.37, Z:-3.17 [[ 9.61276458e-01 2.75512068e-01 -6.37741116e-03 1.27330681e+02] [-2.75507235e-01 9.61297596e-01 1.64167478e-03 -1.23695473e+01] [ 6.58289123e-03 1.78919599e-04 9.99978317e-01 -3.16986804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.36, Y:-12.37, Z:-3.17 [[ 9.62707741e-01 2.70447552e-01 -7.20604134e-03 1.27359020e+02] [-2.70441247e-01 9.62734696e-01 1.85402248e-03 -1.23722456e+01] [ 7.43892186e-03 1.63929014e-04 9.99972317e-01 -3.17080733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.39, Y:-12.38, Z:-3.17 [[ 9.63735576e-01 2.66779449e-01 -6.51648452e-03 1.27385702e+02] [-2.66774208e-01 9.63757599e-01 1.67673745e-03 -1.23786859e+01] [ 6.72763057e-03 1.22498468e-04 9.99977362e-01 -3.17151869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:-12.39, Z:-3.17 [[ 9.64850550e-01 2.62746684e-01 -5.25328583e-03 1.27413095e+02] [-2.62743235e-01 9.64864848e-01 1.34855121e-03 -1.23851405e+01] [ 5.42303819e-03 7.91149365e-05 9.99985292e-01 -3.17221741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:-12.39, Z:-3.17 [[ 9.67094654e-01 2.54376957e-01 -4.50489248e-03 1.27439576e+02] [-2.54374329e-01 9.67105146e-01 1.15662889e-03 -1.23912462e+01] [ 4.65092444e-03 2.73593849e-05 9.99989184e-01 -3.17275877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.47, Y:-12.40, Z:-3.17 [[ 9.68060120e-01 2.50670874e-01 -4.86997629e-03 1.27466709e+02] [-2.50667767e-01 9.68072370e-01 1.24811143e-03 -1.23985051e+01] [ 5.02735467e-03 1.24991817e-05 9.99987363e-01 -3.17379072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.49, Y:-12.41, Z:-3.18 [[ 9.68925521e-01 2.47281331e-01 -5.93950979e-03 1.27493384e+02] [-2.47276647e-01 9.68943725e-01 1.52205732e-03 -1.24068483e+01] [ 6.13142710e-03 -6.05812020e-06 9.99981203e-01 -3.17505681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.52, Y:-12.42, Z:-3.18 [[ 9.70214448e-01 2.42123010e-01 -7.77006520e-03 1.27518585e+02] [-2.42114801e-01 9.70245559e-01 1.99452779e-03 -1.24174251e+01] [ 8.02179233e-03 -5.38718946e-05 9.99967823e-01 -3.17578752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.54, Y:-12.43, Z:-3.18 [[ 9.70697103e-01 2.40178860e-01 -7.82621549e-03 1.27544747e+02] [-2.40170474e-01 9.70728649e-01 2.00832234e-03 -1.24254922e+01] [ 8.07948816e-03 -6.98467962e-05 9.99967358e-01 -3.17607778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:-12.43, Z:-3.18 [[ 9.71083957e-01 2.38605875e-01 -7.94889047e-03 1.27571658e+02] [-2.38597206e-01 9.71116486e-01 2.03556409e-03 -1.24331603e+01] [ 8.20499613e-03 -8.01205713e-05 9.99966335e-01 -3.17645141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:-12.44, Z:-3.18 [[ 9.71147190e-01 2.38323331e-01 -8.66750490e-03 1.27597561e+02] [-2.38313024e-01 9.71185864e-01 2.21825607e-03 -1.24432725e+01] [ 8.94642041e-03 -8.86738543e-05 9.99959976e-01 -3.17539367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.62, Y:-12.45, Z:-3.18 [[ 9.70964734e-01 2.39084764e-01 -8.12166395e-03 1.27624444e+02] [-2.39075758e-01 9.70998697e-01 2.07648629e-03 -1.24523515e+01] [ 8.38258135e-03 -7.45019868e-05 9.99964863e-01 -3.17544349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.65, Y:-12.46, Z:-3.17 [[ 9.69775438e-01 2.43909312e-01 -6.62180525e-03 1.27649919e+02] [-2.43903429e-01 9.69798044e-01 1.69420705e-03 -1.24629213e+01] [ 6.83504666e-03 -2.79193732e-05 9.99976640e-01 -3.17451665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:-12.47, Z:-3.17 [[ 9.68958188e-01 2.47149885e-01 -6.07988765e-03 1.27676386e+02] [-2.47145015e-01 9.68977262e-01 1.55152665e-03 -1.24714950e+01] [ 6.27473252e-03 -7.50526446e-07 9.99980314e-01 -3.17487973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-12.48, Z:-3.18 [[ 9.68027263e-01 2.50784135e-01 -5.52583006e-03 1.27702485e+02] [-2.50780170e-01 9.68043035e-01 1.41040671e-03 -1.24798949e+01] [ 5.70294893e-03 2.04564508e-05 9.99983738e-01 -3.17502789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-12.49, Z:-3.17 [[ 9.65906455e-01 2.58859635e-01 -4.05081969e-03 1.27728603e+02] [-2.58857588e-01 9.65914948e-01 1.03087311e-03 -1.24892598e+01] [ 4.17959873e-03 5.28584232e-05 9.99991264e-01 -3.17433191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:-12.50, Z:-3.18 [[ 9.64840506e-01 2.62791856e-01 -4.82069399e-03 1.27754635e+02] [-2.62788990e-01 9.64852545e-01 1.22981646e-03 -1.24962068e+01] [ 4.97444461e-03 8.02485698e-05 9.99987624e-01 -3.17518226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.78, Y:-12.50, Z:-3.18 [[ 9.63780851e-01 2.66616020e-01 -6.50922838e-03 1.27781623e+02] [-2.66610905e-01 9.63802822e-01 1.65721548e-03 -1.25036831e+01] [ 6.71545288e-03 1.38238728e-04 9.99977442e-01 -3.17625969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:-12.51, Z:-3.18 [[ 9.61660610e-01 2.74144808e-01 -7.31404734e-03 1.27806961e+02] [-2.74138549e-01 9.61688400e-01 1.86469695e-03 -1.25149705e+01] [ 7.54503148e-03 2.11856712e-04 9.99971513e-01 -3.17715419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.83, Y:-12.52, Z:-3.18 [[ 9.60570418e-01 2.77968626e-01 -6.15746879e-03 1.27832969e+02] [-2.77964273e-01 9.60590132e-01 1.56906800e-03 -1.25230709e+01] [ 6.35095543e-03 2.04356029e-04 9.99979812e-01 -3.17653909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.86, Y:-12.53, Z:-3.18 [[ 9.58352786e-01 2.85544244e-01 -4.94193738e-03 1.27860375e+02] [-2.85541561e-01 9.58365505e-01 1.25528611e-03 -1.25292314e+01] [ 5.09462204e-03 2.08121576e-04 9.99987001e-01 -3.17566421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:-12.54, Z:-3.18 [[ 9.57268897e-01 2.89164434e-01 -4.49318998e-03 1.27886733e+02] [-2.89162247e-01 9.57279420e-01 1.14309331e-03 -1.25354369e+01] [ 4.63178023e-03 2.05013245e-04 9.99989252e-01 -3.17625090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:-12.54, Z:-3.18 [[ 9.56346507e-01 2.92209828e-01 -3.84391330e-03 1.27914450e+02] [-2.92208267e-01 9.56354213e-01 9.74188204e-04 -1.25419234e+01] [ 3.96081004e-03 1.91561756e-04 9.99992138e-01 -3.17671643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:-12.55, Z:-3.18 [[ 9.54836100e-01 2.97121817e-01 -2.57826411e-03 1.27940815e+02] [-2.97121130e-01 9.54839571e-01 6.54300955e-04 -1.25465588e+01] [ 2.65623568e-03 1.41306574e-04 9.99996462e-01 -3.17600320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:-12.55, Z:-3.18 [[ 9.54383274e-01 2.98578119e-01 -1.91639341e-03 1.27968113e+02] [-2.98577749e-01 9.54385192e-01 4.82992093e-04 -1.25513664e+01] [ 1.97318837e-03 1.11232858e-04 9.99998047e-01 -3.17599546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:-12.56, Z:-3.18 [[ 9.54111790e-01 2.99448321e-01 -1.18130326e-03 1.27994538e+02] [-2.99448180e-01 9.54112519e-01 2.98436718e-04 -1.25560064e+01] [ 1.21646260e-03 6.89971199e-05 9.99999258e-01 -3.17603710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.02, Y:-12.56, Z:-3.18 [[ 9.54052808e-01 2.99636533e-01 -1.08944640e-03 1.28021747e+02] [-2.99636417e-01 9.54053428e-01 2.72252089e-04 -1.25606045e+01] [ 1.12096675e-03 6.66949468e-05 9.99999369e-01 -3.17644673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:-12.56, Z:-3.18 [[ 9.54248107e-01 2.99015180e-01 -6.86673312e-04 1.28048638e+02] [-2.99015133e-01 9.54248354e-01 1.72432319e-04 -1.25624764e+01] [ 7.06816758e-04 4.07824973e-05 9.99999749e-01 -3.17679203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.08, Y:-12.57, Z:-3.18 [[ 9.54602201e-01 2.97883548e-01 1.73652840e-04 1.28076960e+02] [-2.97883544e-01 9.54602217e-01 -4.83166719e-05 -1.25665094e+01] [-1.80162128e-04 -5.60512200e-06 9.99999984e-01 -3.17765040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.10, Y:-12.57, Z:-3.18 [[ 9.55161647e-01 2.96084823e-01 7.06077598e-05 1.28104784e+02] [-2.96084822e-01 9.55161650e-01 -2.23284822e-05 -1.25701513e+01] [-7.40529492e-05 4.21423833e-07 9.99999997e-01 -3.17815422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:-12.57, Z:-3.18 [[ 9.56697869e-01 2.91076128e-01 -1.96835352e-03 1.28131854e+02] [-2.91075720e-01 9.56699889e-01 4.97082513e-04 -1.25732938e+01] [ 2.02781245e-03 9.73821375e-05 9.99997939e-01 -3.17960772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.16, Y:-12.58, Z:-3.18 [[ 9.57562903e-01 2.88215012e-01 -2.32250733e-03 1.28158698e+02] [-2.88214442e-01 9.57565713e-01 5.83933281e-04 -1.25794069e+01] [ 2.39225173e-03 1.10227307e-04 9.99997132e-01 -3.18075812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:-12.58, Z:-3.18 [[ 9.58429147e-01 2.85319765e-01 -2.49033933e-03 1.28185288e+02] [-2.85319099e-01 9.58432376e-01 6.25976980e-04 -1.25845760e+01] [ 2.56542545e-03 1.10586792e-04 9.99996703e-01 -3.18157871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:-12.59, Z:-3.18 [[ 9.59852331e-01 2.80476351e-01 -4.06444023e-03 1.28213379e+02] [-2.80474528e-01 9.59860923e-01 1.02344622e-03 -1.25865469e+01] [ 4.18834981e-03 1.57614712e-04 9.99991216e-01 -3.18218738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.24, Y:-12.59, Z:-3.18 [[ 9.60508725e-01 2.78221624e-01 -3.96438980e-03 1.28241035e+02] [-2.78219874e-01 9.60516896e-01 9.97343679e-04 -1.25904662e+01] [ 4.08534597e-03 1.45014728e-04 9.99991644e-01 -3.18260774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.27, Y:-12.59, Z:-3.18 [[ 9.61116380e-01 2.76116418e-01 -3.87671220e-03 1.28268896e+02] [-2.76114731e-01 9.61124189e-01 9.74293751e-04 -1.25946911e+01] [ 3.99502037e-03 1.34007664e-04 9.99992011e-01 -3.18289197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:-12.60, Z:-3.18 [[ 9.62463322e-01 2.71384940e-01 -3.81688496e-03 1.28296997e+02] [-2.71383271e-01 9.62470883e-01 9.58383350e-04 -1.25980397e+01] [ 3.93373145e-03 1.13429904e-04 9.99992256e-01 -3.18438178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:-12.60, Z:-3.19 [[ 9.63172200e-01 2.68850711e-01 -4.31383380e-03 1.28324880e+02] [-2.68848555e-01 9.63181853e-01 1.08287911e-03 -1.26033022e+01] [ 4.44613925e-03 1.16768931e-04 9.99990109e-01 -3.18502178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.35, Y:-12.61, Z:-3.19 [[ 9.63874934e-01 2.66309725e-01 -4.92355278e-03 1.28351364e+02] [-2.66306886e-01 9.63887502e-01 1.23561265e-03 -1.26075577e+01] [ 5.07480665e-03 1.20199947e-04 9.99987116e-01 -3.18501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:-12.61, Z:-3.19 [[ 9.65152926e-01 2.61650972e-01 -4.31261449e-03 1.28378777e+02] [-2.61648739e-01 9.65162557e-01 1.08397575e-03 -1.26089128e+01] [ 4.44599734e-03 8.21877751e-05 9.99990113e-01 -3.18566685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.41, Y:-12.61, Z:-3.19 [[ 9.65795215e-01 2.59252045e-01 -5.28964457e-03 1.28406079e+02] [-2.59248668e-01 9.65809696e-01 1.32631741e-03 -1.26133451e+01] [ 5.45264052e-03 9.03823036e-05 9.99985130e-01 -3.18579663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:-12.62, Z:-3.19 [[ 9.66364991e-01 2.57094056e-01 -6.43048893e-03 1.28432870e+02] [-2.57088998e-01 9.66386381e-01 1.61540680e-03 -1.26180079e+01] [ 6.62964841e-03 9.21353741e-05 9.99978019e-01 -3.18674263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.46, Y:-12.62, Z:-3.19 [[ 9.67187222e-01 2.53968113e-01 -7.00541508e-03 1.28460910e+02] [-2.53962055e-01 9.67212588e-01 1.75598890e-03 -1.26206411e+01] [ 7.22169084e-03 8.07395857e-05 9.99973920e-01 -3.18809477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:-12.63, Z:-3.19 [[ 9.67493423e-01 2.52822677e-01 -6.09671545e-03 1.28487427e+02] [-2.52818057e-01 9.67512630e-01 1.52968166e-03 -1.26252582e+01] [ 6.28538742e-03 6.14028072e-05 9.99980245e-01 -3.18893903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.52, Y:-12.63, Z:-3.19 [[ 9.67850016e-01 2.51458618e-01 -5.90846952e-03 1.28516057e+02] [-2.51454278e-01 9.67868049e-01 1.47831967e-03 -1.26279271e+01] [ 6.09035509e-03 5.49182197e-05 9.99981452e-01 -3.18902090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.54, Y:-12.63, Z:-3.19 [[ 9.68061143e-01 2.50652073e-01 -5.58230940e-03 1.28543049e+02] [-2.50648174e-01 9.68077237e-01 1.39865335e-03 -1.26327482e+01] [ 5.75468203e-03 4.52136962e-05 9.99983441e-01 -3.18955458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.57, Y:-12.64, Z:-3.19 [[ 9.68454708e-01 2.49132303e-01 -5.34552745e-03 1.28570511e+02] [-2.49128726e-01 9.68469460e-01 1.33560403e-03 -1.26387490e+01] [ 5.50972219e-03 3.82524265e-05 9.99984821e-01 -3.19043581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:-12.64, Z:-3.19 [[ 9.69199592e-01 2.46189789e-01 -6.53749636e-03 1.28597115e+02] [-2.46184361e-01 9.69221640e-01 1.63503772e-03 -1.26417723e+01] [ 6.73881253e-03 2.47514705e-05 9.99977294e-01 -3.19083010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.63, Y:-12.64, Z:-3.19 [[ 9.69613885e-01 2.44525076e-01 -7.51011058e-03 1.28625279e+02] [-2.44517883e-01 9.69642969e-01 1.87565566e-03 -1.26447947e+01] [ 7.74077076e-03 1.76945678e-05 9.99970040e-01 -3.19162609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.65, Y:-12.65, Z:-3.19 [[ 9.70099961e-01 2.42592813e-01 -7.40219911e-03 1.28651626e+02] [-2.42585754e-01 9.70128201e-01 1.85061903e-03 -1.26494410e+01] [ 7.63002898e-03 3.82607024e-07 9.99970891e-01 -3.19280072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:-12.66, Z:-3.19 [[ 9.70632688e-01 2.40467133e-01 -6.90965221e-03 1.28678974e+02] [-2.40460957e-01 9.70657281e-01 1.72341436e-03 -1.26572334e+01] [ 7.12132874e-03 -1.13007229e-05 9.99974643e-01 -3.19373945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:-12.67, Z:-3.19 [[ 9.71253222e-01 2.37979224e-01 -5.75036528e-03 1.28705518e+02] [-2.37974916e-01 9.71270245e-01 1.43215507e-03 -1.26657236e+01] [ 5.92598184e-03 -2.25425375e-05 9.99982441e-01 -3.19322520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:-12.67, Z:-3.19 [[ 9.71208739e-01 2.38178815e-01 -4.94342362e-03 1.28733216e+02] [-2.38175642e-01 9.71221320e-01 1.22945884e-03 -1.26704082e+01] [ 5.09398946e-03 -1.66580805e-05 9.99987025e-01 -3.19335526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.76, Y:-12.67, Z:-3.19 [[ 9.70632184e-01 2.40505325e-01 -5.50928554e-03 1.28760351e+02] [-2.40501415e-01 9.70647819e-01 1.37146960e-03 -1.26727741e+01] [ 5.67742173e-03 -6.20156850e-06 9.99983883e-01 -3.19359334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:-12.68, Z:-3.19 [[ 9.70195968e-01 2.42245868e-01 -6.06003021e-03 1.28788298e+02] [-2.42241185e-01 9.70214893e-01 1.50621419e-03 -1.26777946e+01] [ 6.24440573e-03 6.66596530e-06 9.99980503e-01 -3.19461178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.82, Y:-12.68, Z:-3.20 [[ 9.69670676e-01 2.44338663e-01 -6.11540358e-03 1.28815966e+02] [-2.44333944e-01 9.69689959e-01 1.51864577e-03 -1.26823887e+01] [ 6.30110933e-03 2.16144046e-05 9.99980148e-01 -3.19552999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:-12.69, Z:-3.20 [[ 9.68552594e-01 2.48711131e-01 -6.97471573e-03 1.28842742e+02] [-2.48705087e-01 9.68577705e-01 1.73476366e-03 -1.26857698e+01] [ 7.18700918e-03 5.44374455e-05 9.99974172e-01 -3.19687615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:-12.69, Z:-3.20 [[ 9.68597946e-01 2.48534424e-01 -6.97557889e-03 1.28870403e+02] [-2.48528400e-01 9.68623062e-01 1.73129526e-03 -1.26924652e+01] [ 7.18699306e-03 5.67004317e-05 9.99974172e-01 -3.19754160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:-12.70, Z:-3.20 [[ 9.68142383e-01 2.50293357e-01 -7.31863596e-03 1.28896506e+02] [-2.50286762e-01 9.68170042e-01 1.81835485e-03 -1.26983667e+01] [ 7.54080623e-03 7.13312963e-05 9.99971565e-01 -3.19894851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:-12.70, Z:-3.20 [[ 9.67779450e-01 2.51687655e-01 -7.50067663e-03 1.28924103e+02] [-2.51680802e-01 9.67808512e-01 1.85936101e-03 -1.27042356e+01] [ 7.72719690e-03 8.83249278e-05 9.99970141e-01 -3.19935443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.95, Y:-12.71, Z:-3.20 [[ 9.67322925e-01 2.53463967e-01 -6.50971353e-03 1.28951565e+02] [-2.53458836e-01 9.67344825e-01 1.61516989e-03 -1.27067234e+01] [ 6.70652506e-03 8.75535542e-05 9.99977507e-01 -3.19961557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:-12.71, Z:-3.20 [[ 9.67346856e-01 2.53376531e-01 -6.35561064e-03 1.28979358e+02] [-2.53371664e-01 9.67367730e-01 1.57299715e-03 -1.27120903e+01] [ 6.54677320e-03 8.86977973e-05 9.99978566e-01 -3.20010749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.01, Y:-12.72, Z:-3.20 [[ 9.67676993e-01 2.52146644e-01 -4.82781150e-03 1.29006432e+02] [-2.52143815e-01 9.67689034e-01 1.19594540e-03 -1.27163011e+01] [ 4.97337386e-03 6.00139564e-05 9.99987631e-01 -3.19990564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.03, Y:-12.72, Z:-3.20 [[ 9.67977069e-01 2.50999417e-01 -4.43684535e-03 1.29034381e+02] [-2.50997032e-01 9.67987236e-01 1.09558428e-03 -1.27210010e+01] [ 4.56980068e-03 5.31345536e-05 9.99989557e-01 -3.19995010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:-12.73, Z:-3.20 [[ 9.68294452e-01 2.49774295e-01 -4.31927468e-03 1.29062029e+02] [-2.49772027e-01 9.68304084e-01 1.06556683e-03 -1.27268319e+01] [ 4.44852252e-03 4.70515378e-05 9.99990104e-01 -3.20091942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.09, Y:-12.74, Z:-3.20 [[ 9.69154591e-01 2.46399562e-01 -5.16092516e-03 1.29088382e+02] [-2.46396276e-01 9.69168331e-01 1.27307277e-03 -1.27378067e+01] [ 5.31548979e-03 3.78284227e-05 9.99985872e-01 -3.20368887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:-12.75, Z:-3.21 [[ 9.69565717e-01 2.44762788e-01 -5.78778087e-03 1.29115404e+02] [-2.44758630e-01 9.69582991e-01 1.42702780e-03 -1.27465198e+01] [ 5.96101719e-03 3.30120866e-05 9.99982232e-01 -3.20514041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:-12.75, Z:-3.21 [[ 9.69833184e-01 2.43686232e-01 -6.37302673e-03 1.29141178e+02] [-2.43681151e-01 9.69854123e-01 1.57380212e-03 -1.27526220e+01] [ 6.56442016e-03 2.66609658e-05 9.99978454e-01 -3.20556271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.17, Y:-12.76, Z:-3.21 [[ 9.70035018e-01 2.42869480e-01 -6.81755751e-03 1.29168532e+02] [-2.42863672e-01 9.70058975e-01 1.67981289e-03 -1.27577081e+01] [ 7.02140814e-03 2.62597266e-05 9.99975349e-01 -3.20631008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.19, Y:-12.77, Z:-3.21 [[ 9.70051423e-01 2.42787653e-01 -7.37514950e-03 1.29194964e+02] [-2.42780863e-01 9.70079458e-01 1.81599189e-03 -1.27658415e+01] [ 7.59538143e-03 2.89396398e-05 9.99971154e-01 -3.20728011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.22, Y:-12.77, Z:-3.21 [[ 9.69641316e-01 2.44371491e-01 -8.84827338e-03 1.29221974e+02] [-2.44361791e-01 9.69681686e-01 2.17781973e-03 -1.27719284e+01] [ 9.11220571e-03 5.04759441e-05 9.99958482e-01 -3.20687123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.25, Y:-12.78, Z:-3.21 [[ 9.69343095e-01 2.45576783e-01 -8.12453173e-03 1.29249201e+02] [-2.45568667e-01 9.69377140e-01 1.99744048e-03 -1.27763267e+01] [ 8.36626034e-03 5.89252909e-05 9.99965000e-01 -3.20714708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.28, Y:-12.78, Z:-3.21 [[ 9.68948110e-01 2.47161455e-01 -7.12569445e-03 1.29276808e+02] [-2.47155270e-01 9.68974309e-01 1.74973921e-03 -1.27821139e+01] [ 7.33708294e-03 6.57464401e-05 9.99973081e-01 -3.20745748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.30, Y:-12.79, Z:-3.21 [[ 9.68543304e-01 2.48767224e-01 -6.22393291e-03 1.29302755e+02] [-2.48762529e-01 9.68563299e-01 1.52983807e-03 -1.27886030e+01] [ 6.40884656e-03 6.65668696e-05 9.99979461e-01 -3.20792869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:-12.79, Z:-3.21 [[ 9.68084755e-01 2.50565744e-01 -5.35871507e-03 1.29330035e+02] [-2.50562313e-01 9.68099583e-01 1.31319340e-03 -1.27927428e+01] [ 5.51681111e-03 7.14095352e-05 9.99984780e-01 -3.20842440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:-12.80, Z:-3.21 [[ 9.68123710e-01 2.50427060e-01 -4.77174043e-03 1.29356995e+02] [-2.50424329e-01 9.68135468e-01 1.17104740e-03 -1.27971831e+01] [ 4.91295311e-03 6.12411412e-05 9.99987929e-01 -3.20958405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:-12.80, Z:-3.21 [[ 9.68436166e-01 2.49214618e-01 -4.84423871e-03 1.29384726e+02] [-2.49211806e-01 9.68448280e-01 1.18547184e-03 -1.28010339e+01] [ 4.98683156e-03 5.91876697e-05 9.99987564e-01 -3.21075620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.41, Y:-12.81, Z:-3.21 [[ 9.68652827e-01 2.48350814e-01 -5.79428293e-03 1.29411383e+02] [-2.48346757e-01 9.68670155e-01 1.42087862e-03 -1.28052206e+01] [ 5.96562530e-03 6.26532812e-05 9.99982204e-01 -3.21108297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:-12.81, Z:-3.21 [[ 9.68912378e-01 2.47332805e-01 -5.94035500e-03 1.29439322e+02] [-2.47328545e-01 9.68930586e-01 1.45295555e-03 -1.28101871e+01] [ 6.11515522e-03 6.14327408e-05 9.99981300e-01 -3.21235546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:-12.82, Z:-3.21 [[ 9.69350634e-01 2.45633461e-01 -4.85303345e-03 1.29465739e+02] [-2.45630590e-01 9.69362781e-01 1.18832779e-03 -1.28163489e+01] [ 4.99624307e-03 4.01471735e-05 9.99987518e-01 -3.21268387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:-12.82, Z:-3.21 [[ 9.69596316e-01 2.44647351e-01 -5.53700446e-03 1.29492356e+02] [-2.44643617e-01 9.69612124e-01 1.35232297e-03 -1.28231295e+01] [ 5.69958889e-03 4.33854285e-05 9.99983756e-01 -3.21359613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:-12.83, Z:-3.21 [[ 9.69797569e-01 2.43804147e-01 -7.22587576e-03 1.29519825e+02] [-2.43797766e-01 9.69824487e-01 1.76466179e-03 -1.28290324e+01] [ 7.43806311e-03 5.02876552e-05 9.99972336e-01 -3.21411329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:-12.83, Z:-3.22 [[ 9.69964985e-01 2.43096383e-01 -8.48975653e-03 1.29547368e+02] [-2.43087557e-01 9.70002137e-01 2.07228566e-03 -1.28345489e+01] [ 8.73884713e-03 5.37096446e-05 9.99961814e-01 -3.21504450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:-12.84, Z:-3.22 [[ 9.69950263e-01 2.43192429e-01 -7.34364423e-03 1.29574285e+02] [-2.43185817e-01 9.69978062e-01 1.79389546e-03 -1.28393896e+01] [ 7.55943559e-03 4.58807449e-05 9.99971426e-01 -3.21509720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:-12.84, Z:-3.22 [[ 9.69938627e-01 2.43270636e-01 -6.20149328e-03 1.29602007e+02] [-2.43265949e-01 9.69958451e-01 1.51075453e-03 -1.28442539e+01] [ 6.38271303e-03 4.32729755e-05 9.99979629e-01 -3.21536919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.63, Y:-12.85, Z:-3.22 [[ 9.70306047e-01 2.41840381e-01 -4.40519386e-03 1.29628241e+02] [-2.41837997e-01 9.70316046e-01 1.07403964e-03 -1.28512720e+01] [ 4.53417645e-03 2.31961061e-05 9.99989720e-01 -3.21561031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:-12.86, Z:-3.22 [[ 9.70715874e-01 2.40205514e-01 -3.46451492e-03 1.29655098e+02] [-2.40204043e-01 9.70722056e-01 8.40973042e-04 -1.28600332e+01] [ 3.56508741e-03 1.58446084e-05 9.99993645e-01 -3.21588970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:-12.87, Z:-3.22 [[ 9.71517495e-01 2.36967560e-01 -3.63305371e-04 1.29681256e+02] [-2.36967545e-01 9.71517563e-01 8.40179879e-05 -1.28689644e+01] [ 3.72867086e-04 4.46663658e-06 9.99999930e-01 -3.21527487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:-12.88, Z:-3.22 [[ 9.71917787e-01 2.35319564e-01 7.20192379e-04 1.29708308e+02] [-2.35319496e-01 9.71918053e-01 -1.80087534e-04 -1.28757556e+01] [-7.42346096e-04 5.55496963e-06 9.99999724e-01 -3.21527291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:-12.88, Z:-3.21 [[ 9.72307217e-01 2.33703948e-01 1.06813064e-03 1.29734996e+02] [-2.33703798e-01 9.72307803e-01 -2.64620278e-04 -1.28825164e+01] [-1.10039456e-03 7.66601913e-06 9.99999395e-01 -3.21483711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.76, Y:-12.89, Z:-3.22 [[ 9.73108985e-01 2.30340026e-01 1.54110019e-03 1.29760815e+02] [-2.30339718e-01 9.73110206e-01 -3.77046981e-04 -1.28916190e+01] [-1.58650934e-03 1.19312217e-05 9.99998741e-01 -3.21520405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.79, Y:-12.90, Z:-3.22 [[ 9.73615587e-01 2.28186110e-01 1.94608348e-03 1.29786995e+02] [-2.28185611e-01 9.73617532e-01 -4.77728978e-04 -1.29010059e+01] [-2.00375211e-03 2.10561330e-05 9.99997992e-01 -3.21528904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:-12.91, Z:-3.22 [[ 9.74227797e-01 2.25555334e-01 2.23417472e-03 1.29813029e+02] [-2.25554672e-01 9.74230358e-01 -5.47318588e-04 -1.29109544e+01] [-2.30005147e-03 2.92844346e-05 9.99997354e-01 -3.21597620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-12.93, Z:-3.22 [[ 9.75326920e-01 2.20751927e-01 2.44644554e-03 1.29838682e+02] [-2.20751120e-01 9.75329988e-01 -5.98535045e-04 -1.29258721e+01] [-2.51821946e-03 4.37117490e-05 9.99996828e-01 -3.21588243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:-12.94, Z:-3.22 [[ 9.75707732e-01 2.19055626e-01 3.00889286e-03 1.29863293e+02] [-2.19054406e-01 9.75712370e-01 -7.33191093e-04 -1.29366748e+01] [-3.09642362e-03 5.62689790e-05 9.99995204e-01 -3.21689415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.89, Y:-12.95, Z:-3.22 [[ 9.75910654e-01 2.18120969e-01 4.65168341e-03 1.29888115e+02] [-2.18118059e-01 9.75921736e-01 -1.13022090e-03 -1.29508036e+01] [-4.78620383e-03 8.83784623e-05 9.99988542e-01 -3.21687572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:-12.96, Z:-3.22 [[ 9.75729822e-01 2.18937032e-01 4.22968531e-03 1.29915182e+02] [-2.18934625e-01 9.75738987e-01 -1.02954700e-03 -1.29596082e+01] [-4.35247482e-03 7.85351415e-05 9.99990525e-01 -3.21682860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.94, Y:-12.97, Z:-3.22 [[ 9.75305802e-01 2.20841163e-01 2.78808234e-03 1.29941893e+02] [-2.20840123e-01 9.75309786e-01 -6.79651628e-04 -1.29684644e+01] [-2.86933905e-03 4.71477307e-05 9.99995882e-01 -3.21733363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.97, Y:-12.98, Z:-3.22 [[ 9.74038079e-01 2.26384226e-01 -5.95146947e-05 1.29968181e+02] [-2.26384226e-01 9.74038080e-01 9.84359962e-06 -1.29807474e+01] [ 6.01980145e-05 3.88514724e-06 9.99999998e-01 -3.21855343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:-12.99, Z:-3.22 [[ 9.73231983e-01 2.29823889e-01 -6.97889778e-04 1.29994518e+02] [-2.29823830e-01 9.73232233e-01 1.64067278e-04 -1.29890978e+01] [ 7.16915407e-04 7.16179062e-07 9.99999743e-01 -3.21977146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.02, Y:-13.00, Z:-3.22 [[ 9.72387649e-01 2.33367723e-01 -1.32876679e-03 1.30021064e+02] [-2.33367509e-01 9.72388557e-01 3.16214610e-04 -1.29975279e+01] [ 1.36587191e-03 2.60781483e-06 9.99999067e-01 -3.22027865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.05, Y:-13.01, Z:-3.22 [[ 9.71581956e-01 2.36698242e-01 -1.56387934e-03 1.30046276e+02] [-2.36697944e-01 9.71583214e-01 3.75541494e-04 -1.30064406e+01] [ 1.60832893e-03 5.29768528e-06 9.99998707e-01 -3.22131739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.07, Y:-13.02, Z:-3.22 [[ 9.70340722e-01 2.41736628e-01 -1.51176299e-03 1.30072479e+02] [-2.41736361e-01 9.70341900e-01 3.59757989e-04 -1.30176307e+01] [ 1.55389366e-03 1.63602577e-05 9.99998793e-01 -3.22167508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:-13.02, Z:-3.22 [[ 9.69760739e-01 2.44056716e-01 -6.54838327e-04 1.30098420e+02] [-2.44056667e-01 9.69760960e-01 1.54504029e-04 -1.30238713e+01] [ 6.72744390e-04 9.98571811e-06 9.99999774e-01 -3.22235351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.13, Y:-13.03, Z:-3.22 [[ 9.68880147e-01 2.47530187e-01 2.59807407e-04 1.30125754e+02] [-2.47530178e-01 9.68880182e-01 -6.72426716e-05 -1.30316867e+01] [-2.68366839e-04 8.39915719e-07 9.99999964e-01 -3.22283679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-13.04, Z:-3.22 [[ 9.68579404e-01 2.48704400e-01 2.45391722e-04 1.30152524e+02] [-2.48704392e-01 9.68579435e-01 -6.37324750e-05 -1.30393785e+01] [-2.53531922e-04 6.99963820e-07 9.99999968e-01 -3.22375890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:-13.05, Z:-3.22 [[ 9.68317950e-01 2.49720430e-01 2.33936658e-04 1.30178783e+02] [-2.49720424e-01 9.68317978e-01 -5.83117552e-05 -1.30470953e+01] [-2.41086708e-04 -1.95444206e-06 9.99999971e-01 -3.22425319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.20, Y:-13.06, Z:-3.23 [[ 9.67828492e-01 2.51609813e-01 7.15620576e-04 1.30204781e+02] [-2.51609751e-01 9.67828757e-01 -1.76715572e-04 -1.30569874e+01] [-7.37061544e-04 -9.02674920e-06 9.99999728e-01 -3.22590881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:-13.07, Z:-3.23 [[ 9.67600498e-01 2.52486086e-01 2.32081407e-04 1.30230469e+02] [-2.52486079e-01 9.67600525e-01 -5.78045753e-05 -1.30652341e+01] [-2.39156943e-04 -2.66558874e-06 9.99999971e-01 -3.22666734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.26, Y:-13.07, Z:-3.23 [[ 9.67525087e-01 2.52774783e-01 -3.39356791e-04 1.30257382e+02] [-2.52774772e-01 9.67525146e-01 7.67909856e-05 -1.30729835e+01] [ 3.47747054e-04 1.14836304e-05 9.99999939e-01 -3.22795987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:-13.08, Z:-3.23 [[ 9.67562148e-01 2.52633111e-01 1.46162117e-05 1.30284504e+02] [-2.52633111e-01 9.67562148e-01 -8.24181987e-06 -1.30805192e+01] [-1.62242500e-05 4.28193390e-06 1.00000000e+00 -3.22887094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-13.09, Z:-3.23 [[ 9.67588783e-01 2.52531074e-01 6.31454891e-05 1.30310939e+02] [-2.52531074e-01 9.67588785e-01 -1.71946400e-05 -1.30873557e+01] [-6.54410482e-05 6.91142599e-07 9.99999998e-01 -3.22895244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.34, Y:-13.09, Z:-3.23 [[ 9.67681109e-01 2.52176602e-01 -4.81692658e-04 1.30338151e+02] [-2.52176578e-01 9.67681229e-01 1.10876568e-04 -1.30940787e+01] [ 4.94085420e-04 1.41784459e-05 9.99999878e-01 -3.22936005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:-13.10, Z:-3.23 [[ 9.68010278e-01 2.50909274e-01 -7.98695424e-04 1.30364067e+02] [-2.50909203e-01 9.68010607e-01 1.89325764e-04 -1.31016401e+01] [ 8.20649232e-04 1.71307467e-05 9.99999663e-01 -3.23083416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.39, Y:-13.11, Z:-3.23 [[ 9.68234809e-01 2.50040345e-01 -1.08682107e-03 1.30390522e+02] [-2.50040216e-01 9.68235418e-01 2.55524963e-04 -1.31102468e+01] [ 1.11619020e-03 2.43408095e-05 9.99999377e-01 -3.23185764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.42, Y:-13.12, Z:-3.23 [[ 9.68329612e-01 2.49659338e-01 -2.82432846e-03 1.30416067e+02] [-2.49658435e-01 9.68333730e-01 6.73631594e-04 -1.31203982e+01] [ 2.90307093e-03 5.28200015e-05 9.99995785e-01 -3.23276703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.44, Y:-13.13, Z:-3.23 [[ 9.68248262e-01 2.49966099e-01 -3.50029318e-03 1.30442955e+02] [-2.49964725e-01 9.68254587e-01 8.31888156e-04 -1.31276627e+01] [ 3.59711876e-03 6.94755590e-05 9.99993528e-01 -3.23339563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.47, Y:-13.13, Z:-3.23 [[ 9.68166622e-01 2.50278677e-01 -3.73831830e-03 1.30470051e+02] [-2.50277113e-01 9.68173837e-01 8.87975532e-04 -1.31347924e+01] [ 3.84158331e-03 7.59072415e-05 9.99992618e-01 -3.23424470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.50, Y:-13.14, Z:-3.24 [[ 9.68019744e-01 2.50836386e-01 -4.34550361e-03 1.30496472e+02] [-2.50834265e-01 9.68029493e-01 1.03526165e-03 -1.31417649e+01] [ 4.46625695e-03 8.78474889e-05 9.99990022e-01 -3.23523205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:-13.15, Z:-3.24 [[ 9.67694846e-01 2.52068897e-01 -5.28739212e-03 1.30523923e+02] [-2.52065793e-01 9.67709284e-01 1.25637029e-03 -1.31477821e+01] [ 5.43335032e-03 1.16987631e-04 9.99985232e-01 -3.23526903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.55, Y:-13.15, Z:-3.24 [[ 9.67740738e-01 2.51892646e-01 -5.28755232e-03 1.30551660e+02] [-2.51889543e-01 9.67755176e-01 1.25569654e-03 -1.31542052e+01] [ 5.43335685e-03 1.16690437e-04 9.99985232e-01 -3.23593469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.58, Y:-13.16, Z:-3.24 [[ 9.67544545e-01 2.52662150e-01 -4.40354036e-03 1.30578310e+02] [-2.52660001e-01 9.67554561e-01 1.04698215e-03 -1.31596739e+01] [ 4.52519832e-03 9.95966397e-05 9.99989756e-01 -3.23634392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:-13.17, Z:-3.24 [[ 9.67451056e-01 2.53041494e-01 -2.90803591e-03 1.30604657e+02] [-2.53040569e-01 9.67455424e-01 6.87668794e-04 -1.31690192e+01] [ 2.98740385e-03 7.05651609e-05 9.99995535e-01 -3.23713224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.63, Y:-13.18, Z:-3.24 [[ 9.67646400e-01 2.52282808e-01 -3.71869583e-03 1.30631819e+02] [-2.52281288e-01 9.67653542e-01 8.79888290e-04 -1.31770628e+01] [ 3.82038988e-03 8.67366383e-05 9.99992699e-01 -3.23853401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.66, Y:-13.18, Z:-3.24 [[ 9.67987724e-01 2.50972489e-01 -3.54618893e-03 1.30657712e+02] [-2.50971091e-01 9.67994217e-01 8.41110405e-04 -1.31849659e+01] [ 3.64378595e-03 7.58063584e-05 9.99993359e-01 -3.23811571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:130.68, Y:-13.19, Z:-3.24 [[ 9.68682674e-01 2.48295600e-01 -1.78094658e-03 1.30684694e+02] [-2.48295250e-01 9.68684311e-01 4.18429036e-04 -1.31922207e+01] [ 1.82906910e-03 3.68756194e-05 9.99998327e-01 -3.23778205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:-13.20, Z:-3.24 [[ 9.68767081e-01 2.47967702e-01 -1.53687809e-03 1.30711185e+02] [-2.47967438e-01 9.68768299e-01 3.62920064e-04 -1.31988281e+01] [ 1.57887123e-03 2.95107133e-05 9.99998753e-01 -3.23815911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:-13.21, Z:-3.24 [[ 9.68867516e-01 2.47574068e-01 -1.67853304e-03 1.30738648e+02] [-2.47573757e-01 9.68868969e-01 3.93648198e-04 -1.32058665e+01] [ 1.72373566e-03 3.41677794e-05 9.99998514e-01 -3.23815594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.77, Y:-13.21, Z:-3.24 [[ 9.68857001e-01 2.47620746e-01 -2.78622460e-04 1.30765100e+02] [-2.47620739e-01 9.68857041e-01 6.13379870e-05 -1.32142427e+01] [ 2.85133890e-04 9.56496119e-06 9.99999959e-01 -3.23791007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:-13.22, Z:-3.24 [[ 9.68746709e-01 2.48052022e-01 8.91374199e-05 1.30791074e+02] [-2.48052021e-01 9.68746713e-01 -2.31583461e-05 -1.32209284e+01] [-9.20960573e-05 3.23854375e-07 9.99999996e-01 -3.23834520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.82, Y:-13.23, Z:-3.24 [[ 9.68549065e-01 2.48816994e-01 -1.67709921e-03 1.30817796e+02] [-2.48816687e-01 9.68550516e-01 3.92214809e-04 -1.32281669e+01] [ 1.72194501e-03 3.74109825e-05 9.99998517e-01 -3.23953274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-13.23, Z:-3.24 [[ 9.68475154e-01 2.49100046e-01 -2.24568718e-03 1.30843443e+02] [-2.49099488e-01 9.68477756e-01 5.29344588e-04 -1.32349849e+01] [ 2.30675785e-03 4.67424474e-05 9.99997338e-01 -3.24036434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-13.24, Z:-3.24 [[ 9.68435640e-01 2.49258533e-01 -1.61068082e-03 1.30870448e+02] [-2.49258252e-01 9.68436979e-01 3.76340226e-04 -1.32414062e+01] [ 1.65364888e-03 3.70141972e-05 9.99998632e-01 -3.24097279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:-13.24, Z:-3.24 [[ 9.68350174e-01 2.49594355e-01 -7.73130673e-04 1.30898698e+02] [-2.49594292e-01 9.68350483e-01 1.78184307e-04 -1.32448819e+01] [ 7.93135257e-04 2.04241981e-05 9.99999685e-01 -3.24071773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.93, Y:-13.25, Z:-3.24 [[ 9.68328224e-01 2.49678615e-01 -1.01943406e-03 1.30926370e+02] [-2.49678505e-01 9.68328761e-01 2.36110403e-04 -1.32506439e+01] [ 1.04609903e-03 2.58984035e-05 9.99999453e-01 -3.24164779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.95, Y:-13.26, Z:-3.24 [[ 9.68453781e-01 2.49190864e-01 -1.08945730e-03 1.30952989e+02] [-2.49190738e-01 9.68454394e-01 2.52348958e-04 -1.32576622e+01] [ 1.11797276e-03 2.70943644e-05 9.99999375e-01 -3.24184149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.98, Y:-13.26, Z:-3.24 [[ 9.68706762e-01 2.48207975e-01 -9.79378527e-05 1.30978970e+02] [-2.48207974e-01 9.68706767e-01 2.10844962e-05 -1.32645842e+01] [ 1.00106401e-04 3.88426193e-06 9.99999995e-01 -3.24144178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:-13.27, Z:-3.24 [[ 9.68859634e-01 2.47610359e-01 -3.44906534e-04 1.31006597e+02] [-2.47610348e-01 9.68859696e-01 7.67477745e-05 -1.32702562e+01] [ 3.53169584e-04 1.10446061e-05 9.99999938e-01 -3.24193533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:-13.28, Z:-3.24 [[ 9.69179808e-01 2.46352539e-01 -9.62339662e-04 1.31034229e+02] [-2.46352440e-01 9.69180286e-01 2.21768469e-04 -1.32752009e+01] [ 9.87313854e-04 2.21412017e-05 9.99999512e-01 -3.24216034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.06, Y:-13.28, Z:-3.24 [[ 9.69384495e-01 2.45547578e-01 -2.96187964e-04 1.31061703e+02] [-2.45547569e-01 9.69384540e-01 6.49305531e-05 -1.32805036e+01] [ 3.03063573e-04 9.78556328e-06 9.99999954e-01 -3.24308119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.09, Y:-13.29, Z:-3.24 [[ 9.69686429e-01 2.44352674e-01 -2.83643023e-05 1.31088418e+02] [-2.44352674e-01 9.69686429e-01 4.61862530e-06 -1.32850596e+01] [ 2.86330522e-05 2.45227485e-06 1.00000000e+00 -3.24400669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.12, Y:-13.29, Z:-3.25 [[ 9.70707829e-01 2.40260532e-01 -1.09004492e-03 1.31115929e+02] [-2.40260401e-01 9.70708441e-01 2.51323392e-04 -1.32908617e+01] [ 1.11849890e-03 1.79330458e-05 9.99999374e-01 -3.24612281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.14, Y:-13.30, Z:-3.25 [[ 9.71339479e-01 2.37692606e-01 -1.35719281e-03 1.31143156e+02] [-2.37692399e-01 9.71340427e-01 3.13768048e-04 -1.32987003e+01] [ 1.39287659e-03 1.78191232e-05 9.99999030e-01 -3.24680196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.17, Y:-13.31, Z:-3.25 [[ 9.71952075e-01 2.35173602e-01 -1.59372478e-03 1.31169280e+02] [-2.35173309e-01 9.71953382e-01 3.71776413e-04 -1.33058848e+01] [ 1.63645819e-03 1.34526732e-05 9.99998661e-01 -3.24700338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.20, Y:-13.31, Z:-3.25 [[ 9.72549424e-01 2.32685016e-01 -2.30252815e-03 1.31196471e+02] [-2.32684401e-01 9.72552149e-01 5.34997933e-04 -1.33112214e+01] [ 2.36381470e-03 1.54504517e-05 9.99997206e-01 -3.24694015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.22, Y:-13.32, Z:-3.25 [[ 9.73489735e-01 2.28693403e-01 -4.13078718e-03 1.31223840e+02] [-2.28691378e-01 9.73498499e-01 9.62505092e-04 -1.33163507e+01] [ 4.24143369e-03 7.68658740e-06 9.99991005e-01 -3.24744846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:-13.32, Z:-3.25 [[ 9.73825079e-01 2.27255149e-01 -4.45123225e-03 1.31249668e+02] [-2.27252776e-01 9.73835252e-01 1.03839981e-03 -1.33231679e+01] [ 4.57074858e-03 3.35112084e-07 9.99989554e-01 -3.24828808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.28, Y:-13.33, Z:-3.25 [[ 9.74175935e-01 2.25746606e-01 -4.44035133e-03 1.31276765e+02] [-2.25744240e-01 9.74186055e-01 1.03358110e-03 -1.33290891e+01] [ 4.55905577e-03 -4.50609916e-06 9.99989607e-01 -3.24837456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.30, Y:-13.33, Z:-3.25 [[ 9.74142186e-01 2.25903121e-01 -3.84473356e-03 1.31302988e+02] [-2.25901347e-01 9.74149773e-01 8.95262352e-04 -1.33344586e+01] [ 3.94758889e-03 -3.58233426e-06 9.99992208e-01 -3.24917862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.33, Y:-13.34, Z:-3.25 [[ 9.74125202e-01 2.25971871e-01 -4.09939143e-03 1.31329840e+02] [-2.25969864e-01 9.74133827e-01 9.52374308e-04 -1.33403077e+01] [ 4.20856567e-03 -1.39288979e-06 9.99991144e-01 -3.24978630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:-13.35, Z:-3.25 [[ 9.74121987e-01 2.25995759e-01 -3.50294839e-03 1.31357298e+02] [-2.25994299e-01 9.74128286e-01 8.12237038e-04 -1.33463644e+01] [ 3.59588324e-03 4.28408124e-07 9.99993535e-01 -3.24979127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-13.35, Z:-3.25 [[ 9.74198943e-01 2.25667135e-01 -3.28076156e-03 1.31383662e+02] [-2.25665846e-01 9.74204467e-01 7.62838384e-04 -1.33515130e+01] [ 3.36828013e-03 -2.80051407e-06 9.99994327e-01 -3.25036785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.41, Y:-13.36, Z:-3.25 [[ 9.74285322e-01 2.25294209e-01 -3.26048393e-03 1.31411215e+02] [-2.25292944e-01 9.74290778e-01 7.54785274e-04 -1.33572723e+01] [ 3.34670817e-03 -8.12189332e-07 9.99994400e-01 -3.25087365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.44, Y:-13.36, Z:-3.25 [[ 9.74287809e-01 2.25287149e-01 -2.99445372e-03 1.31437305e+02] [-2.25286076e-01 9.74292410e-01 6.95219343e-04 -1.33643203e+01] [ 3.07409751e-03 -2.73500292e-06 9.99995275e-01 -3.25112070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.46, Y:-13.37, Z:-3.25 [[ 9.74318994e-01 2.25155945e-01 -2.70153919e-03 1.31464475e+02] [-2.25155081e-01 9.74322739e-01 6.23977435e-04 -1.33716790e+01] [ 2.77266329e-03 3.12206540e-07 9.99996156e-01 -3.25104112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.49, Y:-13.38, Z:-3.25 [[ 9.73945643e-01 2.26773951e-01 -1.86004013e-03 1.31491706e+02] [-2.26773547e-01 9.73947419e-01 4.27632311e-04 -1.33766430e+01] [ 1.90855716e-03 5.31727341e-06 9.99998179e-01 -3.25053576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.52, Y:-13.38, Z:-3.25 [[ 9.73576302e-01 2.28355514e-01 -1.71586850e-03 1.31518606e+02] [-2.28355170e-01 9.73577814e-01 3.96631237e-04 -1.33819715e+01] [ 1.76110444e-03 5.67667098e-06 9.99998449e-01 -3.25120140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.55, Y:-13.39, Z:-3.25 [[ 9.73172954e-01 2.30069291e-01 -1.58859830e-03 1.31546264e+02] [-2.30069004e-01 9.73174250e-01 3.64047043e-04 -1.33875783e+01] [ 1.62973901e-03 1.12064924e-05 9.99998672e-01 -3.25146696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.57, Y:-13.39, Z:-3.25 [[ 9.71834527e-01 2.35664240e-01 1.31642701e-04 1.31573480e+02] [-2.35664238e-01 9.71834536e-01 -3.26090755e-05 -1.33908308e+01] [-1.35619717e-04 6.67148703e-07 9.99999991e-01 -3.25097386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:-13.39, Z:-3.25 [[ 9.71170146e-01 2.38387031e-01 4.14508145e-04 1.31600724e+02] [-2.38387011e-01 9.71170234e-01 -9.81813485e-05 -1.33940657e+01] [-4.25963133e-04 -3.46256308e-06 9.99999909e-01 -3.25176155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.63, Y:-13.40, Z:-3.25 [[ 9.70663036e-01 2.40443772e-01 -2.51366237e-04 1.31628330e+02] [-2.40443766e-01 9.70663069e-01 5.36622131e-05 -1.33980876e+01] [ 2.56894668e-04 8.35151799e-06 9.99999967e-01 -3.25226519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.65, Y:-13.40, Z:-3.25 [[ 9.70152034e-01 2.42497346e-01 -2.61067460e-04 1.31654314e+02] [-2.42497339e-01 9.70152069e-01 5.84929772e-05 -1.34034786e+01] [ 2.67459528e-04 6.56108370e-06 9.99999964e-01 -3.25407736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.68, Y:-13.41, Z:-3.25 [[ 9.70347971e-01 2.41711455e-01 -6.23073941e-04 1.31680579e+02] [-2.41711414e-01 9.70348171e-01 1.41214900e-04 -1.34076734e+01] [ 6.38731918e-04 1.35764920e-05 9.99999796e-01 -3.25401285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:-13.41, Z:-3.26 [[ 9.70703426e-01 2.40278038e-01 -1.14992086e-03 1.31708963e+02] [-2.40277897e-01 9.70704107e-01 2.61404843e-04 -1.34111002e+01] [ 1.17904275e-03 2.25539894e-05 9.99999305e-01 -3.25516618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.74, Y:-13.41, Z:-3.26 [[ 9.71843353e-01 2.35623731e-01 -1.39802456e-03 1.31736403e+02] [-2.35623513e-01 9.71844358e-01 3.21292243e-04 -1.34141595e+01] [ 1.43436636e-03 1.71617269e-05 9.99998971e-01 -3.25663074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.76, Y:-13.42, Z:-3.26 [[ 9.72570746e-01 2.32606831e-01 -4.53519775e-04 1.31763478e+02] [-2.32606809e-01 9.72570852e-01 1.00090779e-04 -1.34206987e+01] [ 4.64361912e-04 8.14642406e-06 9.99999892e-01 -3.25667265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:-13.43, Z:-3.26 [[ 9.73830498e-01 2.27262652e-01 2.41836821e-03 1.31789786e+02] [-2.27261961e-01 9.73833501e-01 -5.60577664e-04 -1.34255964e+01] [-2.48248635e-03 -3.69547575e-06 9.99996919e-01 -3.25668581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.82, Y:-13.43, Z:-3.26 [[ 9.74365680e-01 2.24957662e-01 2.36056446e-03 1.31815772e+02] [-2.24956997e-01 9.74368539e-01 -5.46975536e-04 -1.34312216e+01] [-2.42310609e-03 1.92869790e-06 9.99997064e-01 -3.25760503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-13.44, Z:-3.26 [[ 9.74890502e-01 2.22678066e-01 1.72883343e-03 1.31842488e+02] [-2.22677701e-01 9.74892034e-01 -4.03292465e-04 -1.34383876e+01] [-1.77523033e-03 8.19334011e-06 9.99998424e-01 -3.25904637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.87, Y:-13.45, Z:-3.26 [[ 9.75319272e-01 2.20797705e-01 8.31236096e-04 1.31869534e+02] [-2.20797618e-01 9.75319626e-01 -1.96298386e-04 -1.34460220e+01] [-8.54063112e-04 7.91864948e-06 9.99999635e-01 -3.25975700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:-13.45, Z:-3.26 [[ 9.75659215e-01 2.19291758e-01 4.70348625e-04 1.31896055e+02] [-2.19291730e-01 9.75659328e-01 -1.10414491e-04 -1.34511942e+01] [-4.83113011e-04 4.58335177e-06 9.99999883e-01 -3.26059226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.92, Y:-13.46, Z:-3.26 [[ 9.75766319e-01 2.18814405e-01 5.88546409e-04 1.31923474e+02] [-2.18814361e-01 9.75766497e-01 -1.39963401e-04 -1.34565280e+01] [-6.04909876e-04 7.78916655e-06 9.99999817e-01 -3.26136284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:-13.46, Z:-3.26 [[ 9.75764445e-01 2.18821706e-01 8.99643874e-04 1.31949536e+02] [-2.18821606e-01 9.75764860e-01 -2.08951244e-04 -1.34641605e+01] [-9.23563946e-04 7.02567712e-06 9.99999573e-01 -3.26130740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.98, Y:-13.47, Z:-3.26 [[ 9.75690994e-01 2.19147725e-01 1.16537680e-03 1.31976590e+02] [-2.19147556e-01 9.75691690e-01 -2.72609612e-04 -1.34703945e+01] [-1.19679023e-03 1.05932660e-05 9.99999284e-01 -3.26154058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.00, Y:-13.48, Z:-3.26 [[ 9.75474547e-01 2.20107394e-01 1.46402924e-03 1.32003753e+02] [-2.20107130e-01 9.75475646e-01 -3.40958087e-04 -1.34755936e+01] [-1.50317227e-03 1.03526606e-05 9.99998870e-01 -3.26152703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-13.48, Z:-3.26 [[ 9.74869320e-01 2.22776038e-01 8.03237008e-04 1.32029873e+02] [-2.22775960e-01 9.74869651e-01 -1.86458096e-04 -1.34812437e+01] [-8.24589777e-04 2.83038184e-06 9.99999660e-01 -3.26244355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:-13.49, Z:-3.26 [[ 9.74495272e-01 2.24407685e-01 3.94112071e-04 1.32056939e+02] [-2.24407665e-01 9.74495352e-01 -9.49405388e-05 -1.34872834e+01] [-4.05365768e-04 4.07733650e-06 9.99999918e-01 -3.26353006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.08, Y:-13.49, Z:-3.26 [[ 9.74052695e-01 2.26321246e-01 -2.04694141e-04 1.32084480e+02] [-2.26321242e-01 9.74052716e-01 4.22249104e-05 -1.34928890e+01] [ 2.08939278e-04 5.19734439e-06 9.99999978e-01 -3.26438701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:-13.50, Z:-3.27 [[ 9.73134489e-01 2.30233776e-01 -1.29402630e-03 1.32111348e+02] [-2.30233588e-01 9.73135349e-01 2.94410229e-04 -1.34957938e+01] [ 1.32704592e-03 1.14275713e-05 9.99999119e-01 -3.26601146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.14, Y:-13.50, Z:-3.27 [[ 9.72807709e-01 2.31606744e-01 -1.86498726e-03 1.32137868e+02] [-2.31606357e-01 9.72809496e-01 4.23932618e-04 -1.34998803e+01] [ 1.91246297e-03 1.95379866e-05 9.99998171e-01 -3.26668892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:-13.50, Z:-3.27 [[ 9.72571849e-01 2.32596191e-01 -1.73474554e-03 1.32165394e+02] [-2.32595862e-01 9.72573396e-01 3.92069695e-04 -1.35041836e+01] [ 1.77836128e-03 2.21786856e-05 9.99998418e-01 -3.26686494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.19, Y:-13.51, Z:-3.27 [[ 9.72197564e-01 2.34160012e-01 -9.92476886e-04 1.32191476e+02] [-2.34159904e-01 9.72198071e-01 2.24877330e-04 -1.35099920e+01] [ 1.01754139e-03 1.37730996e-05 9.99999482e-01 -3.26679997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:-13.52, Z:-3.27 [[ 9.72112615e-01 2.34512630e-01 -9.43922713e-04 1.32218050e+02] [-2.34512533e-01 9.72113073e-01 2.13703943e-04 -1.35165558e+01] [ 9.67715882e-04 1.36174075e-05 9.99999532e-01 -3.26720587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.25, Y:-13.52, Z:-3.27 [[ 9.71983672e-01 2.35047403e-01 6.77662980e-04 1.32245075e+02] [-2.35047350e-01 9.71983909e-01 -1.56802963e-04 -1.35209516e+01] [-6.95533641e-04 -6.87296782e-06 9.99999758e-01 -3.26760421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.27, Y:-13.53, Z:-3.27 [[ 9.72024952e-01 2.34876635e-01 6.77203001e-04 1.32272872e+02] [-2.34876582e-01 9.72025188e-01 -1.58817694e-04 -1.35270992e+01] [-6.95560940e-04 -4.68436460e-06 9.99999758e-01 -3.26826976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.30, Y:-13.53, Z:-3.27 [[ 9.72133593e-01 2.34425683e-01 9.36562534e-04 1.32300436e+02] [-2.34425582e-01 9.72134044e-01 -2.18200307e-04 -1.35318450e+01] [-9.61616079e-04 -7.43436896e-06 9.99999538e-01 -3.26891035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:-13.54, Z:-3.27 [[ 9.72246965e-01 2.33954465e-01 1.07123862e-03 1.32328403e+02] [-2.33954332e-01 9.72247555e-01 -2.48757063e-04 -1.35361415e+01] [-1.09970696e-03 -8.76761707e-06 9.99999395e-01 -3.26935086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.35, Y:-13.54, Z:-3.27 [[ 9.72300813e-01 2.33728748e-01 1.41457231e-03 1.32354909e+02] [-2.33728524e-01 9.72301842e-01 -3.24255119e-04 -1.35400267e+01] [-1.45117901e-03 -1.53523822e-05 9.99998947e-01 -3.26979273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:-13.54, Z:-3.27 [[ 9.72356173e-01 2.33502552e-01 1.74489409e-04 1.32382402e+02] [-2.33502547e-01 9.72356189e-01 -4.43703051e-05 -1.35438716e+01] [-1.80026437e-04 2.40001854e-06 9.99999984e-01 -3.27109201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.41, Y:-13.55, Z:-3.27 [[ 9.72355062e-01 2.33505236e-01 -9.68511686e-04 1.32408226e+02] [-2.33505134e-01 9.72355544e-01 2.18328640e-04 -1.35502217e+01] [ 9.92718588e-04 1.38594925e-05 9.99999507e-01 -3.27248652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:-13.56, Z:-3.27 [[ 9.72468180e-01 2.33031495e-01 -1.40013975e-03 1.32435330e+02] [-2.33031285e-01 9.72469188e-01 3.13490649e-04 -1.35568739e+01] [ 1.43464596e-03 2.14166851e-05 9.99998971e-01 -3.27376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.46, Y:-13.56, Z:-3.27 [[ 9.72463794e-01 2.33050370e-01 -1.30184694e-03 1.32461726e+02] [-2.33050186e-01 9.72464665e-01 2.93727085e-04 -1.35607656e+01] [ 1.33445335e-03 1.77567159e-05 9.99999109e-01 -3.27362866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:-13.56, Z:-3.27 [[ 9.72415080e-01 2.33249675e-01 -1.87114187e-03 1.32489185e+02] [-2.33249298e-01 9.72416880e-01 4.20234137e-04 -1.35641516e+01] [ 1.91754941e-03 2.78005154e-05 9.99998161e-01 -3.27398566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:-13.57, Z:-3.27 [[ 9.72306516e-01 2.33700076e-01 -2.07667799e-03 1.32517536e+02] [-2.33699613e-01 9.72308734e-01 4.66380950e-04 -1.35652127e+01] [ 2.12816541e-03 3.18536058e-05 9.99997735e-01 -3.27469895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.54, Y:-13.57, Z:-3.28 [[ 9.72332331e-01 2.33596273e-01 -1.61864484e-03 1.32544893e+02] [-2.33595994e-01 9.72333678e-01 3.62130671e-04 -1.35694913e+01] [ 1.65845526e-03 2.59975903e-05 9.99998624e-01 -3.27571754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:-13.57, Z:-3.28 [[ 9.72358114e-01 2.33490946e-01 -1.29476821e-03 1.32571815e+02] [-2.33490765e-01 9.72358976e-01 2.91258804e-04 -1.35748369e+01] [ 1.32698578e-03 1.91085582e-05 9.99999119e-01 -3.27666325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.60, Y:-13.58, Z:-3.28 [[ 9.72531344e-01 2.32763970e-01 -1.92874806e-03 1.32599287e+02] [-2.32763571e-01 9.72533256e-01 4.31897246e-04 -1.35812351e+01] [ 1.97630175e-03 2.89086782e-05 9.99998047e-01 -3.27757008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.63, Y:-13.59, Z:-3.28 [[ 9.72715926e-01 2.31989020e-01 -2.19601751e-03 1.32626980e+02] [-2.31988501e-01 9.72718404e-01 4.91617689e-04 -1.35867332e+01] [ 2.25015656e-03 3.12464559e-05 9.99997468e-01 -3.27808249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.65, Y:-13.59, Z:-3.28 [[ 9.72792915e-01 2.31669387e-01 -1.79989706e-03 1.32653021e+02] [-2.31669035e-01 9.72794580e-01 4.04657557e-04 -1.35917581e+01] [ 1.84467687e-03 2.33324098e-05 9.99998298e-01 -3.27874813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.68, Y:-13.59, Z:-3.28 [[ 9.73107300e-01 2.30349992e-01 -1.03103042e-03 1.32680458e+02] [-2.30349877e-01 9.73107847e-01 2.30866444e-04 -1.35936064e+01] [ 1.05648388e-03 1.28399083e-05 9.99999442e-01 -3.27827592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:-13.60, Z:-3.28 [[ 9.73124220e-01 2.30278642e-01 -9.99547559e-04 1.32707881e+02] [-2.30278533e-01 9.73124734e-01 2.23758190e-04 -1.35966288e+01] [ 1.02421118e-03 1.24298320e-05 9.99999475e-01 -3.27873868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:-13.60, Z:-3.28 [[ 9.73304068e-01 2.29519162e-01 3.81110900e-04 1.32735508e+02] [-2.29519145e-01 9.73304143e-01 -8.79948093e-05 -1.35988708e+01] [-3.91133313e-04 -1.82654187e-06 9.99999924e-01 -3.27859999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-13.60, Z:-3.28 [[ 9.73408859e-01 2.29070348e-01 1.40314313e-03 1.32762545e+02] [-2.29070123e-01 9.73409870e-01 -3.20935577e-04 -1.36046816e+01] [-1.43935020e-03 -9.01663575e-06 9.99998964e-01 -3.27956336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.79, Y:-13.61, Z:-3.28 [[ 9.73610474e-01 2.28210049e-01 1.67868437e-03 1.32790227e+02] [-2.28209728e-01 9.73611921e-01 -3.82817508e-04 -1.36109614e+01] [-1.72174991e-03 -1.03769668e-05 9.99998518e-01 -3.27991094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:-13.62, Z:-3.28 [[ 9.73880687e-01 2.27053715e-01 1.73701073e-03 1.32817716e+02] [-2.27053370e-01 9.73882236e-01 -3.95951347e-04 -1.36170099e+01] [-1.78154612e-03 -8.78477059e-06 9.99998413e-01 -3.28016943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:-13.62, Z:-3.28 [[ 9.74401814e-01 2.24798516e-01 2.59477722e-03 1.32843735e+02] [-2.24797752e-01 9.74405268e-01 -5.86057571e-04 -1.36221882e+01] [-2.66010947e-03 -1.22445267e-05 9.99996462e-01 -3.28174635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:-13.63, Z:-3.28 [[ 9.74704729e-01 2.23485424e-01 2.22644887e-03 1.32871294e+02] [-2.23484853e-01 9.74707272e-01 -5.05216130e-04 -1.36272580e+01] [-2.28304434e-03 -5.14104713e-06 9.99997394e-01 -3.28225773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:-13.63, Z:-3.28 [[ 9.75282214e-01 2.20958268e-01 1.43059535e-03 1.32898009e+02] [-2.20958031e-01 9.75283263e-01 -3.23535834e-04 -1.36316149e+01] [-1.46672362e-03 -5.62788157e-07 9.99998924e-01 -3.28336831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.93, Y:-13.64, Z:-3.28 [[ 9.75674964e-01 2.19218302e-01 1.30385551e-03 1.32925137e+02] [-2.19218100e-01 9.75675836e-01 -2.97450944e-04 -1.36374361e+01] [-1.33734701e-03 4.38671177e-06 9.99999106e-01 -3.28407810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.95, Y:-13.64, Z:-3.28 [[ 9.76027209e-01 2.17644841e-01 1.26918316e-03 1.32951184e+02] [-2.17644651e-01 9.76028034e-01 -2.86911253e-04 -1.36439000e+01] [-1.30120310e-03 3.80226317e-06 9.99999153e-01 -3.28480743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:-13.65, Z:-3.29 [[ 9.76667506e-01 2.14754604e-01 -1.02133300e-03 1.32976878e+02] [-2.14754484e-01 9.76668040e-01 2.27190524e-04 -1.36517054e+01] [ 1.04629351e-03 -2.55376225e-06 9.99999453e-01 -3.28563467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.00, Y:-13.66, Z:-3.29 [[ 9.76915656e-01 2.13617888e-01 -1.78868140e-03 1.33004148e+02] [-2.13617520e-01 9.76917293e-01 3.96508902e-04 -1.36594253e+01] [ 1.83209519e-03 -5.26206829e-06 9.99998322e-01 -3.28638854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:-13.67, Z:-3.29 [[ 9.76816603e-01 2.14074801e-01 -1.14204837e-03 1.33030887e+02] [-2.14074654e-01 9.76817270e-01 2.51081522e-04 -1.36670831e+01] [ 1.16932279e-03 -7.76990103e-07 9.99999316e-01 -3.28610880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.06, Y:-13.67, Z:-3.29 [[ 9.76567940e-01 2.15206971e-01 -1.00920372e-03 1.33057873e+02] [-2.15206858e-01 9.76568461e-01 2.21007348e-04 -1.36735145e+01] [ 1.03311884e-03 1.35887042e-06 9.99999466e-01 -3.28598700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:-13.68, Z:-3.29 [[ 9.76300707e-01 2.16417419e-01 -6.56410511e-04 1.33084556e+02] [-2.16417371e-01 9.76300927e-01 1.44722939e-04 -1.36797784e+01] [ 6.72174755e-04 7.65529583e-07 9.99999774e-01 -3.28612073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.11, Y:-13.69, Z:-3.29 [[ 9.75989236e-01 2.17817976e-01 -5.83016384e-04 1.33111555e+02] [-2.17817940e-01 9.75989410e-01 1.25477435e-04 -1.36858448e+01] [ 5.96349058e-04 4.52680220e-06 9.99999822e-01 -3.28599167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:-13.69, Z:-3.29 [[ 9.75179770e-01 2.21414302e-01 -3.51875878e-04 1.33137703e+02] [-2.21414289e-01 9.75179833e-01 7.65152653e-05 -1.36914126e+01] [ 3.60083833e-04 3.29420846e-06 9.99999935e-01 -3.28698833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:-13.70, Z:-3.29 [[ 9.74851409e-01 2.22855467e-01 -4.12869174e-04 1.33165131e+02] [-2.22855450e-01 9.74851497e-01 8.76223930e-05 -1.36975772e+01] [ 4.22013261e-04 6.59133220e-06 9.99999911e-01 -3.28755933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:-13.70, Z:-3.29 [[ 9.74595648e-01 2.23971688e-01 7.04744256e-05 1.33191666e+02] [-2.23971688e-01 9.74595651e-01 -1.76936695e-05 -1.37035342e+01] [-7.26469499e-05 1.45989727e-06 9.99999997e-01 -3.28819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.22, Y:-13.71, Z:-3.29 [[ 9.74422535e-01 2.24723143e-01 4.81500244e-04 1.33219539e+02] [-2.24723115e-01 9.74422654e-01 -1.11906772e-04 -1.37091757e+01] [-4.94332788e-04 8.40245552e-07 9.99999878e-01 -3.28840807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.25, Y:-13.72, Z:-3.29 [[ 9.74211989e-01 2.25632883e-01 8.95588129e-04 1.33246083e+02] [-2.25632793e-01 9.74212401e-01 -2.01525348e-04 -1.37155562e+01] [-9.17963806e-04 -5.74564099e-06 9.99999579e-01 -3.28854758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.27, Y:-13.72, Z:-3.29 [[ 9.74289763e-01 2.25298055e-01 4.94264177e-04 1.33273723e+02] [-2.25298025e-01 9.74289888e-01 -1.14581446e-04 -1.37222918e+01] [-5.07371567e-04 2.78786571e-07 9.99999871e-01 -3.28918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:-13.73, Z:-3.29 [[ 9.74476957e-01 2.24484533e-01 1.16406831e-03 1.33300244e+02] [-2.24484378e-01 9.74477652e-01 -2.63612284e-04 -1.37323799e+01] [-1.19353543e-03 -4.43105379e-06 9.99999288e-01 -3.29022599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.33, Y:-13.74, Z:-3.29 [[ 9.74600954e-01 2.23938413e-01 2.13730461e-03 1.33326496e+02] [-2.23937903e-01 9.74603297e-01 -4.78227577e-04 -1.37394811e+01] [-2.19011764e-03 -1.25424596e-05 9.99997602e-01 -3.29049400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:-13.75, Z:-3.29 [[ 9.74748057e-01 2.23291633e-01 2.65940563e-03 1.33353672e+02] [-2.23290840e-01 9.74751684e-01 -5.95143578e-04 -1.37454871e+01] [-2.72515070e-03 -1.37058717e-05 9.99996287e-01 -3.29015707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.38, Y:-13.75, Z:-3.29 [[ 9.74879122e-01 2.22716884e-01 2.80845123e-03 1.33379513e+02] [-2.22716007e-01 9.74883167e-01 -6.25354609e-04 -1.37523184e+01] [-2.87718886e-03 -1.58418904e-05 9.99995861e-01 -3.29019369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:-13.76, Z:-3.29 [[ 9.74992757e-01 2.22219475e-01 2.76198589e-03 1.33406133e+02] [-2.22218618e-01 9.74996669e-01 -6.17066397e-04 -1.37598681e+01] [-2.83005121e-03 -1.21294203e-05 9.99995995e-01 -3.29091930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:-13.77, Z:-3.29 [[ 9.75061759e-01 2.21919723e-01 2.49035269e-03 1.33433339e+02] [-2.21919025e-01 9.75064940e-01 -5.56497511e-04 -1.37669675e+01] [-2.55175337e-03 -1.00371995e-05 9.99996744e-01 -3.29104427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:-13.77, Z:-3.29 [[ 9.75043855e-01 2.22000954e-01 2.24868330e-03 1.33459925e+02] [-2.22000391e-01 9.75046448e-01 -5.00043572e-04 -1.37728002e+01] [-2.30358082e-03 -1.16441605e-05 9.99997347e-01 -3.29073748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.49, Y:-13.78, Z:-3.29 [[ 9.74807419e-01 2.23036348e-01 2.29850314e-03 1.33486894e+02] [-2.23035758e-01 9.74810129e-01 -5.13033219e-04 -1.37810358e+01] [-2.35502919e-03 -1.25398015e-05 9.99997227e-01 -3.29208648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.51, Y:-13.79, Z:-3.29 [[ 9.74679046e-01 2.23600412e-01 1.90080666e-03 1.33512239e+02] [-2.23600013e-01 9.74680899e-01 -4.22338221e-04 -1.37902771e+01] [-1.94711495e-03 -1.33761800e-05 9.99998104e-01 -3.29335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:-13.80, Z:-3.29 [[ 9.74234978e-01 2.25522500e-01 2.41039285e-03 1.33538952e+02] [-2.25521861e-01 9.74237959e-01 -5.37248787e-04 -1.38004849e+01] [-2.46945790e-03 -2.01897217e-05 9.99996951e-01 -3.29341736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:-13.81, Z:-3.30 [[ 9.73778659e-01 2.27427396e-01 5.64830063e-03 1.33564547e+02] [-2.27449104e-01 9.73783508e-01 3.54739259e-03 -1.38081968e+01] [-4.69344774e-03 -4.73907611e-03 9.99977756e-01 -3.29502768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:-13.81, Z:-3.29 [[ 9.73389208e-01 2.29145409e-01 2.41474652e-03 1.33594463e+02] [-2.29130718e-01 9.73381713e-01 -5.21105107e-03 -1.38086166e+01] [-3.54455853e-03 4.51908827e-03 9.99983507e-01 -3.29449477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.62, Y:-13.82, Z:-3.30 [[ 9.72398854e-01 2.33322932e-01 9.36912424e-04 1.33620050e+02] [-2.33322839e-01 9.72399305e-01 -2.08770044e-04 -1.38181513e+01] [-9.59763829e-04 -1.55953154e-05 9.99999539e-01 -3.29521113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:-13.82, Z:-3.30 [[ 9.71995743e-01 2.34995484e-01 1.18285277e-03 1.33647562e+02] [-2.34995335e-01 9.71996462e-01 -2.65447382e-04 -1.38242863e+01] [-1.21210765e-03 -1.99511575e-05 9.99999265e-01 -3.29624208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.67, Y:-13.83, Z:-3.30 [[ 9.71490054e-01 2.37076796e-01 1.29114394e-03 1.33673365e+02] [-2.37076623e-01 9.71490912e-01 -2.87633842e-04 -1.38305320e+01] [-1.32252591e-03 -2.66666287e-05 9.99999125e-01 -3.29733536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:-13.84, Z:-3.30 [[ 9.71362936e-01 2.37599727e-01 6.45452168e-04 1.33699238e+02] [-2.37599684e-01 9.71363150e-01 -1.44157531e-04 -1.38369809e+01] [-6.61220242e-04 -1.33299483e-05 9.99999781e-01 -3.29801609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:133.73, Y:-13.84, Z:-3.30 [[ 9.71368384e-01 2.37577799e-01 5.02247432e-04 1.33726245e+02] [-2.37577771e-01 9.71368514e-01 -1.15251414e-04 -1.38434504e+01] [-5.15248519e-04 -7.37124581e-06 9.99999867e-01 -3.29894669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.75, Y:-13.85, Z:-3.30 [[ 9.71403551e-01 2.37433221e-01 7.78305317e-04 1.33752797e+02] [-2.37433158e-01 9.71403863e-01 -1.73217144e-04 -1.38498927e+01] [-7.97176296e-04 -1.65317411e-05 9.99999682e-01 -3.29952087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:-13.85, Z:-3.30 [[ 9.71542592e-01 2.36861035e-01 1.35692399e-03 1.33780509e+02] [-2.36860843e-01 9.71543540e-01 -3.02742792e-04 -1.38544062e+01] [-1.39001871e-03 -2.72746430e-05 9.99999034e-01 -3.30047585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.81, Y:-13.86, Z:-3.30 [[ 9.71613949e-01 2.36568769e-01 1.24550997e-03 1.33807981e+02] [-2.36568607e-01 9.71614747e-01 -2.78094708e-04 -1.38600046e+01] [-1.27594438e-03 -2.44478605e-05 9.99999186e-01 -3.30107762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.83, Y:-13.87, Z:-3.30 [[ 9.71753568e-01 2.35994801e-01 1.20733237e-03 1.33833888e+02] [-2.35994651e-01 9.71754317e-01 -2.66939966e-04 -1.38662686e+01] [-1.23622688e-03 -2.55241158e-05 9.99999236e-01 -3.30141968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:-13.87, Z:-3.30 [[ 9.71896111e-01 2.35405151e-01 1.53765899e-03 1.33860597e+02] [-2.35404905e-01 9.71897327e-01 -3.41606111e-04 -1.38732646e+01] [-1.57486250e-03 -2.99668184e-05 9.99998759e-01 -3.30199550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:-13.88, Z:-3.30 [[ 9.72208826e-01 2.34098058e-01 2.84579511e-03 1.33888254e+02] [-2.34097222e-01 9.72212989e-01 -6.27982824e-04 -1.38789524e+01] [-2.91372853e-03 -5.56622859e-05 9.99995754e-01 -3.30115530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:-13.88, Z:-3.30 [[ 9.72440479e-01 2.33125341e-01 3.47704899e-03 1.33914466e+02] [-2.33124102e-01 9.72446693e-01 -7.63214270e-04 -1.38840381e+01] [-3.55916938e-03 -6.84034734e-05 9.99993664e-01 -3.30142008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.94, Y:-13.89, Z:-3.30 [[ 9.73193931e-01 2.29953995e-01 3.83830113e-03 1.33941980e+02] [-2.29952454e-01 9.73201498e-01 -8.44086047e-04 -1.38896780e+01] [-3.92954137e-03 -6.11673455e-05 9.99992277e-01 -3.30179540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-13.90, Z:-3.30 [[ 9.73235602e-01 2.29777562e-01 3.83851478e-03 1.33969831e+02] [-2.29776023e-01 9.73243170e-01 -8.43110645e-04 -1.38955750e+01] [-3.92953621e-03 -6.14533654e-05 9.99992277e-01 -3.30246400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:-13.90, Z:-3.30 [[ 9.73688844e-01 2.27846614e-01 3.99453780e-03 1.33996457e+02] [-2.27844943e-01 9.73697036e-01 -8.74515510e-04 -1.39010758e+01] [-4.08872501e-03 -5.86292420e-05 9.99991639e-01 -3.30297434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:-13.91, Z:-3.30 [[ 9.74158433e-01 2.25828390e-01 4.10922286e-03 1.34024008e+02] [-2.25826597e-01 9.74167099e-01 -9.01297491e-04 -1.39075249e+01] [-4.20660827e-03 -4.99652614e-05 9.99991151e-01 -3.30356770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.05, Y:-13.92, Z:-3.31 [[ 9.75168739e-01 2.21420924e-01 4.32496352e-03 1.34050645e+02] [-2.21418899e-01 9.75178329e-01 -9.47500961e-04 -1.39186793e+01] [-4.42740724e-03 -3.36553446e-05 9.99990198e-01 -3.30526999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.08, Y:-13.93, Z:-3.31 [[ 9.75610246e-01 2.19469313e-01 4.22718095e-03 1.34077141e+02] [-2.19467364e-01 9.75619403e-01 -9.25319793e-04 -1.39262590e+01] [-4.32719906e-03 -2.49767895e-05 9.99990637e-01 -3.30591747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-13.93, Z:-3.31 [[ 9.75926725e-01 2.18059071e-01 4.15559381e-03 1.34103243e+02] [-2.18057186e-01 9.75935572e-01 -9.06807820e-04 -1.39321215e+01] [-4.25332949e-03 -2.11791078e-05 9.99990954e-01 -3.30643626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:-13.94, Z:-3.31 [[ 9.76163745e-01 2.17007064e-01 3.50384959e-03 1.34130925e+02] [-2.17005710e-01 9.76170033e-01 -7.66780355e-04 -1.39383455e+01] [-3.58674972e-03 -1.18521837e-05 9.99993568e-01 -3.30766445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:-13.94, Z:-3.31 [[ 9.76145328e-01 2.17096806e-01 3.04550612e-03 1.34157720e+02] [-2.17095782e-01 9.76150079e-01 -6.66674438e-04 -1.39448306e+01] [-3.11760393e-03 -1.03953958e-05 9.99995140e-01 -3.30781144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:-13.95, Z:-3.31 [[ 9.76013573e-01 2.17690129e-01 2.91781148e-03 1.34184347e+02] [-2.17689201e-01 9.76017934e-01 -6.35957811e-04 -1.39513091e+01] [-2.98627807e-03 -1.44725938e-05 9.99995541e-01 -3.30879333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:-13.96, Z:-3.31 [[ 9.75805172e-01 2.18628341e-01 2.43222271e-03 1.34211264e+02] [-2.18627693e-01 9.75808203e-01 -5.32372784e-04 -1.39580016e+01] [-2.48977465e-03 -1.22591251e-05 9.99996900e-01 -3.30926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:-13.97, Z:-3.31 [[ 9.75164993e-01 2.21472272e-01 1.80798610e-03 1.34237114e+02] [-2.21471922e-01 9.75166669e-01 -3.94214559e-04 -1.39666317e+01] [-1.85039538e-03 -1.59939200e-05 9.99998288e-01 -3.30993822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:-13.97, Z:-3.31 [[ 9.74832112e-01 2.22931084e-01 2.02128149e-03 1.34263918e+02] [-2.22930649e-01 9.74834207e-01 -4.41046773e-04 -1.39731654e+01] [-2.06873738e-03 -2.06590372e-05 9.99997860e-01 -3.31023907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:-13.98, Z:-3.31 [[ 9.74368025e-01 2.24937273e-01 3.18980426e-03 1.34291423e+02] [-2.24936201e-01 9.74373246e-01 -6.95577801e-04 -1.39784318e+01] [-3.26452130e-03 -3.97536822e-05 9.99994671e-01 -3.31035707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-13.98, Z:-3.31 [[ 9.74291009e-01 2.25262885e-01 3.69638881e-03 1.34318491e+02] [-2.25261452e-01 9.74298019e-01 -8.04823684e-04 -1.39847011e+01] [-3.78268120e-03 -4.85214329e-05 9.99992844e-01 -3.31092554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.34, Y:-13.99, Z:-3.31 [[ 9.74350529e-01 2.25001584e-01 3.91594756e-03 1.34344223e+02] [-2.24999987e-01 9.74358396e-01 -8.49291183e-04 -1.39917290e+01] [-4.00662825e-03 -5.35808391e-05 9.99991972e-01 -3.31140650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.37, Y:-14.00, Z:-3.31 [[ 9.74706536e-01 2.23438587e-01 4.72930509e-03 1.34370313e+02] [-2.23436233e-01 9.74718008e-01 -1.02709849e-03 -1.40013143e+01] [-4.83923227e-03 -5.55785016e-05 9.99988289e-01 -3.31159912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:-14.01, Z:-3.31 [[ 9.74952438e-01 2.22344887e-01 5.52222923e-03 1.34396193e+02] [-2.22341683e-01 9.74968075e-01 -1.19517785e-03 -1.40088888e+01] [-5.64973889e-03 -6.25801880e-05 9.99984038e-01 -3.31245180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.42, Y:-14.02, Z:-3.31 [[ 9.75176844e-01 2.21360903e-01 5.42893764e-03 1.34423337e+02] [-2.21357783e-01 9.75191954e-01 -1.17642450e-03 -1.40167208e+01] [-5.55467070e-03 -5.45156718e-05 9.99984571e-01 -3.31370704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:-14.03, Z:-3.32 [[ 9.75407267e-01 2.20393674e-01 2.70036521e-03 1.34449264e+02] [-2.20392900e-01 9.75411005e-01 -5.84627351e-04 -1.40254099e+01] [-2.76281411e-03 -2.48915532e-05 9.99996183e-01 -3.31515445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:-14.03, Z:-3.32 [[ 9.75450139e-01 2.20209174e-01 2.22406962e-03 1.34476894e+02] [-2.20208642e-01 9.75452674e-01 -4.84117027e-04 -1.40311333e+01] [-2.27608167e-03 -1.75273296e-05 9.99997410e-01 -3.31568679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:-14.04, Z:-3.32 [[ 9.75359632e-01 2.20599349e-01 3.08458259e-03 1.34503899e+02] [-2.20598336e-01 9.75364510e-01 -6.68964267e-04 -1.40367417e+01] [-3.15616546e-03 -2.79730450e-05 9.99995019e-01 -3.31650083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:-14.05, Z:-3.32 [[ 9.74956092e-01 2.22368631e-01 3.57909540e-03 1.34529388e+02] [-2.22367294e-01 9.74962661e-01 -7.72465073e-04 -1.40466907e+01] [-3.66125638e-03 -4.27542290e-05 9.99993297e-01 -3.31660718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.56, Y:-14.06, Z:-3.32 [[ 9.74746361e-01 2.23282249e-01 3.81684293e-03 1.34555910e+02] [-2.23280728e-01 9.74753833e-01 -8.25455398e-04 -1.40554027e+01] [-3.90479182e-03 -4.76178237e-05 9.99992375e-01 -3.31712408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.58, Y:-14.06, Z:-3.32 [[ 9.74396451e-01 2.24794356e-01 4.36512612e-03 1.34583365e+02] [-2.24792389e-01 9.74406226e-01 -9.42562116e-04 -1.40626569e+01] [-4.46528871e-03 -6.28179467e-05 9.99990029e-01 -3.31717572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-14.07, Z:-3.32 [[ 9.73912890e-01 2.26860767e-01 5.27978879e-03 1.34609569e+02] [-2.26857941e-01 9.73927197e-01 -1.13591258e-03 -1.40682413e+01] [-5.39982389e-03 -9.14821120e-05 9.99985417e-01 -3.31811956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:-14.08, Z:-3.32 [[ 9.73114140e-01 2.30286967e-01 4.09686339e-03 1.34635247e+02] [-2.30285296e-01 9.73122760e-01 -8.81446558e-04 -1.40750110e+01] [-4.18973666e-03 -8.56992900e-05 9.99991219e-01 -3.31997851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.66, Y:-14.08, Z:-3.32 [[ 9.72879209e-01 2.31283991e-01 3.70962613e-03 1.34662493e+02] [-2.31282620e-01 9.72886278e-01 -8.00322618e-04 -1.40807988e+01] [-3.79414617e-03 -7.93548136e-05 9.99992799e-01 -3.32075694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:-14.08, Z:-3.32 [[ 9.72421526e-01 2.33194253e-01 4.10083563e-03 1.34688979e+02] [-2.33192609e-01 9.72430167e-01 -8.81165196e-04 -1.40842085e+01] [-4.19325894e-03 -9.94205576e-05 9.99991203e-01 -3.32168142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:-14.09, Z:-3.32 [[ 9.72225562e-01 2.34016482e-01 3.70717277e-03 1.34715589e+02] [-2.34015146e-01 9.72232625e-01 -7.96391529e-04 -1.40899721e+01] [-3.79060306e-03 -9.32623753e-05 9.99992811e-01 -3.32291048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:-14.10, Z:-3.32 [[ 9.72021770e-01 2.34872182e-01 2.95594345e-03 1.34743172e+02] [-2.34871328e-01 9.72026261e-01 -6.37533558e-04 -1.40971130e+01] [-3.02299356e-03 -7.45698683e-05 9.99995428e-01 -3.32336624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-14.10, Z:-3.32 [[ 9.71198702e-01 2.38263263e-01 1.92330741e-03 1.34770245e+02] [-2.38262911e-01 9.71200605e-01 -4.13626059e-04 -1.41017425e+01] [-1.96646921e-03 -5.65397303e-05 9.99998065e-01 -3.32378228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:-14.10, Z:-3.32 [[ 9.70773692e-01 2.39988347e-01 2.00791591e-03 1.34797817e+02] [-2.39987963e-01 9.70775767e-01 -4.33805752e-04 -1.41047045e+01] [-2.05334444e-03 -6.07484391e-05 9.99997890e-01 -3.32449542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.83, Y:-14.11, Z:-3.33 [[ 9.70332900e-01 2.41756452e-01 2.80719656e-03 1.34825703e+02] [-2.41755714e-01 9.70336957e-01 -6.04227430e-04 -1.41071123e+01] [-2.87000245e-03 -9.23540550e-05 9.99995877e-01 -3.32519786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:-14.11, Z:-3.33 [[ 9.69918822e-01 2.43404880e-01 3.39761495e-03 1.34852456e+02] [-2.43403823e-01 9.69924765e-01 -7.27407997e-04 -1.41090956e+01] [-3.47248554e-03 -1.21465761e-04 9.99993964e-01 -3.32558882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.88, Y:-14.11, Z:-3.33 [[ 9.69743497e-01 2.44078368e-01 4.82707276e-03 1.34881118e+02] [-2.44076240e-01 9.69755495e-01 -1.03426953e-03 -1.41091542e+01] [-4.93352316e-03 -1.75197619e-04 9.99987815e-01 -3.32642178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.91, Y:-14.11, Z:-3.33 [[ 9.70115631e-01 2.42575838e-01 5.71186834e-03 1.34908722e+02] [-2.42572844e-01 9.70132425e-01 -1.22186285e-03 -1.41120241e+01] [-5.83766309e-03 -2.00195902e-04 9.99982941e-01 -3.32710413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:-14.11, Z:-3.33 [[ 9.71445967e-01 2.37159241e-01 6.94455568e-03 1.34936361e+02] [-2.37154707e-01 9.71470767e-01 -1.48126803e-03 -1.41116995e+01] [-7.09772924e-03 -2.07962208e-04 9.99974789e-01 -3.32723949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.96, Y:-14.12, Z:-3.33 [[ 9.72336828e-01 2.33481093e-01 6.90448467e-03 1.34964430e+02] [-2.33476524e-01 9.72361325e-01 -1.47191521e-03 -1.41163032e+01] [-7.05731824e-03 -1.80837714e-04 9.99975080e-01 -3.32805935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:-14.12, Z:-3.33 [[ 9.73298314e-01 2.29443306e-01 6.79414769e-03 1.34990647e+02] [-2.29438785e-01 9.73322016e-01 -1.44810331e-03 -1.41204757e+01] [-6.94515113e-03 -1.49404482e-04 9.99975871e-01 -3.32888227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:-14.12, Z:-3.33 [[ 9.74224666e-01 2.25477747e-01 6.78862296e-03 1.35018287e+02] [-2.25473128e-01 9.74248311e-01 -1.44818926e-03 -1.41235291e+01] [-6.94033890e-03 -1.19790357e-04 9.99975908e-01 -3.32945248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.05, Y:-14.12, Z:-3.33 [[ 9.75863239e-01 2.18289543e-01 6.37288837e-03 1.35046849e+02] [-2.18285339e-01 9.75884046e-01 -1.35636169e-03 -1.41245195e+01] [-6.51527966e-03 -6.74845922e-05 9.99978773e-01 -3.33076181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.07, Y:-14.13, Z:-3.33 [[ 9.76596712e-01 2.14963076e-01 7.05247208e-03 1.35073430e+02] [-2.14957839e-01 9.76622175e-01 -1.50126676e-03 -1.41292755e+01] [-7.21031755e-03 -4.98519789e-05 9.99974004e-01 -3.33154864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.10, Y:-14.13, Z:-3.33 [[ 9.77727102e-01 2.09681701e-01 9.12682017e-03 1.35100385e+02] [-2.09672728e-01 9.77769699e-01 -1.93990600e-03 -1.41318070e+01] [-9.33069100e-03 -1.69466076e-05 9.99956468e-01 -3.33083227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:-14.13, Z:-3.33 [[ 9.78334026e-01 2.06828205e-01 9.19934457e-03 1.35127875e+02] [-2.06818956e-01 9.78377276e-01 -1.95600171e-03 -1.41348245e+01] [-9.40498600e-03 1.10241856e-05 9.99955772e-01 -3.33103406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:-14.14, Z:-3.33 [[ 9.78971916e-01 2.03829140e-01 8.22620210e-03 1.35155517e+02] [-2.03821663e-01 9.79006476e-01 -1.74614152e-03 -1.41387441e+01] [-8.40941966e-03 3.27453138e-05 9.99964640e-01 -3.33160793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:-14.14, Z:-3.33 [[ 9.79618208e-01 2.00745519e-01 7.02874152e-03 1.35181918e+02] [-2.00739981e-01 9.79643422e-01 -1.49187226e-03 -1.41437024e+01] [-7.18514707e-03 5.05157891e-05 9.99974185e-01 -3.33309204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.21, Y:-14.15, Z:-3.33 [[ 9.80811762e-01 1.94878699e-01 5.52998373e-03 1.35209095e+02] [-1.94875179e-01 9.80827348e-01 -1.17345780e-03 -1.41485284e+01] [-5.65264120e-03 7.32846394e-05 9.99984021e-01 -3.33445448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:-14.15, Z:-3.34 [[ 9.81280841e-01 1.92491197e-01 5.92026489e-03 1.35235723e+02] [-1.92487123e-01 9.81298696e-01 -1.25590901e-03 -1.41531222e+01] [-6.05129964e-03 9.28246938e-05 9.99981686e-01 -3.33556301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:-14.16, Z:-3.34 [[ 9.81619730e-01 1.90737401e-01 6.47681581e-03 1.35262019e+02] [-1.90732491e-01 9.81641091e-01 -1.37319846e-03 -1.41582322e+01] [-6.61982884e-03 1.12619495e-04 9.99978082e-01 -3.33570946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.29, Y:-14.16, Z:-3.34 [[ 9.81976568e-01 1.88915343e-01 5.74568171e-03 1.35289188e+02] [-1.88911450e-01 9.81993371e-01 -1.21775761e-03 -1.41649480e+01] [-5.87227445e-03 1.10384372e-04 9.99982752e-01 -3.33548881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-14.17, Z:-3.34 [[ 9.81936212e-01 1.89141668e-01 5.16761479e-03 1.35316229e+02] [-1.89138522e-01 9.81949805e-01 -1.09524119e-03 -1.41692307e+01] [-5.28149408e-03 9.80619660e-05 9.99986048e-01 -3.33599423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.34, Y:-14.17, Z:-3.34 [[ 9.81623797e-01 1.90744646e-01 5.58578570e-03 1.35343125e+02] [-1.90741001e-01 9.81639685e-01 -1.18319180e-03 -1.41722707e+01] [-5.70891642e-03 9.60108738e-05 9.99983699e-01 -3.33696511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.37, Y:-14.18, Z:-3.34 [[ 9.81442282e-01 1.91681017e-01 5.42532453e-03 1.35369356e+02] [-1.91677595e-01 9.81457274e-01 -1.14875646e-03 -1.41778287e+01] [-5.54491903e-03 8.75249993e-05 9.99984623e-01 -3.33806525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:-14.18, Z:-3.34 [[ 9.81221877e-01 1.92811751e-01 5.22080623e-03 1.35396692e+02] [-1.92808601e-01 9.81235763e-01 -1.10488758e-03 -1.41829305e+01] [-5.33587710e-03 7.75235149e-05 9.99985761e-01 -3.33881197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.42, Y:-14.18, Z:-3.34 [[ 9.80574865e-01 1.96068160e-01 5.49635333e-03 1.35424384e+02] [-1.96064722e-01 9.80590267e-01 -1.16290475e-03 -1.41843340e+01] [-5.61767918e-03 6.26741799e-05 9.99984219e-01 -3.33958111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:-14.19, Z:-3.34 [[ 9.80336644e-01 1.97265626e-01 5.13204172e-03 1.35451821e+02] [-1.97262635e-01 9.80350075e-01 -1.08751313e-03 -1.41883155e+01] [-5.24572645e-03 5.37688987e-05 9.99986240e-01 -3.34070091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:-14.19, Z:-3.34 [[ 9.80098737e-01 1.98462983e-01 4.34868926e-03 1.35478627e+02] [-1.98460853e-01 9.80108383e-01 -9.20150581e-04 -1.41929727e+01] [-4.44480263e-03 3.87938409e-05 9.99990121e-01 -3.34217948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:-14.20, Z:-3.34 [[ 9.79760461e-01 2.00120884e-01 4.59018421e-03 1.35506218e+02] [-2.00118529e-01 9.79771213e-01 -9.71600777e-04 -1.41958129e+01] [-4.69176796e-03 3.33551172e-05 9.99988993e-01 -3.34256259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:-14.20, Z:-3.34 [[ 9.79629882e-01 2.00742666e-01 5.26081539e-03 1.35534501e+02] [-2.00739590e-01 9.79644007e-01 -1.11187181e-03 -1.41992858e+01] [-5.37692638e-03 3.31689265e-05 9.99985544e-01 -3.34318782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.56, Y:-14.20, Z:-3.34 [[ 9.79541189e-01 2.01158428e-01 5.86057461e-03 1.35561719e+02] [-2.01154634e-01 9.79558720e-01 -1.23581491e-03 -1.42030381e+01] [-5.98937154e-03 3.16498690e-05 9.99982063e-01 -3.34448207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:-14.21, Z:-3.35 [[ 9.79660060e-01 2.00566546e-01 6.26317160e-03 1.35589139e+02] [-2.00562202e-01 9.79680080e-01 -1.32062139e-03 -1.42091376e+01] [-6.40077693e-03 3.76045395e-05 9.99979514e-01 -3.34577828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.62, Y:-14.21, Z:-3.35 [[ 9.79908239e-01 1.99340327e-01 6.57861482e-03 1.35615489e+02] [-1.99335529e-01 9.79930320e-01 -1.38376295e-03 -1.42144146e+01] [-6.72242389e-03 4.46090462e-05 9.99977403e-01 -3.34592354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:-14.22, Z:-3.35 [[ 9.80474800e-01 1.96529884e-01 6.72091429e-03 1.35643080e+02] [-1.96524802e-01 9.80497833e-01 -1.41485197e-03 -1.42171859e+01] [-6.86790259e-03 6.64003559e-05 9.99976413e-01 -3.34610306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.67, Y:-14.22, Z:-3.35 [[ 9.80821520e-01 1.94808578e-01 6.22608184e-03 1.35670616e+02] [-1.94804188e-01 9.80841278e-01 -1.30980554e-03 -1.42226540e+01] [-6.36195942e-03 7.18186401e-05 9.99979760e-01 -3.34718614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.70, Y:-14.23, Z:-3.35 [[ 9.80844237e-01 1.94694150e-01 6.22657320e-03 1.35698516e+02] [-1.94689773e-01 9.80863998e-01 -1.30746243e-03 -1.42283434e+01] [-6.36197677e-03 7.01668627e-05 9.99979760e-01 -3.34785498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:-14.23, Z:-3.35 [[ 9.81214412e-01 1.92830441e-01 5.89060134e-03 1.35725586e+02] [-1.92826484e-01 9.81232090e-01 -1.23779601e-03 -1.42346640e+01] [-6.01873182e-03 7.86793386e-05 9.99981884e-01 -3.34865518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.75, Y:-14.24, Z:-3.35 [[ 9.81526280e-01 1.91235721e-01 5.92111447e-03 1.35752943e+02] [-1.91231715e-01 9.81544136e-01 -1.24078934e-03 -1.42410407e+01] [-6.04911844e-03 8.55624694e-05 9.99981700e-01 -3.34918984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:-14.25, Z:-3.35 [[ 9.82031994e-01 1.88594262e-01 6.73549168e-03 1.35779456e+02] [-1.88589020e-01 9.82055086e-01 -1.41086674e-03 -1.42482440e+01] [-6.88070523e-03 1.15276507e-04 9.99976321e-01 -3.34973190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.81, Y:-14.25, Z:-3.35 [[ 9.82180001e-01 1.87803635e-01 7.22772436e-03 1.35805715e+02] [-1.87797578e-01 9.82206586e-01 -1.51388219e-03 -1.42547393e+01] [-7.38343104e-03 1.29555685e-04 9.99972734e-01 -3.35003339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:-14.26, Z:-3.35 [[ 9.82056964e-01 1.88387084e-01 8.62703094e-03 1.35831682e+02] [-1.88378499e-01 9.82094845e-01 -1.80444741e-03 -1.42608068e+01] [-8.81249720e-03 1.46923005e-04 9.99961158e-01 -3.34919925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:-14.27, Z:-3.35 [[ 9.81853555e-01 1.89448014e-01 8.54674347e-03 1.35858792e+02] [-1.89439636e-01 9.81890743e-01 -1.78675607e-03 -1.42667242e+01] [-8.73046569e-03 1.35240829e-04 9.99961880e-01 -3.34970935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:-14.27, Z:-3.35 [[ 9.81571869e-01 1.90928384e-01 7.93843656e-03 1.35885209e+02] [-1.90921207e-01 9.81603963e-01 -1.65929467e-03 -1.42732231e+01] [-8.10920724e-03 1.13101080e-04 9.99967113e-01 -3.35008675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.91, Y:-14.28, Z:-3.35 [[ 9.80929717e-01 1.94212322e-01 7.64622847e-03 1.35912228e+02] [-1.94205770e-01 9.80959514e-01 -1.59742518e-03 -1.42809642e+01] [-7.81088021e-03 8.20201420e-05 9.99969491e-01 -3.35081103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:-14.29, Z:-3.35 [[ 9.80617504e-01 1.95780370e-01 7.70437426e-03 1.35938196e+02] [-1.95773764e-01 9.80647766e-01 -1.60992578e-03 -1.42861779e+01] [-7.87046928e-03 7.04070570e-05 9.99969025e-01 -3.35145856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.97, Y:-14.29, Z:-3.35 [[ 9.80346159e-01 1.97138190e-01 7.61194878e-03 1.35965321e+02] [-1.97131781e-01 9.80375709e-01 -1.59061675e-03 -1.42920604e+01] [-7.77614099e-03 5.87979945e-05 9.99969764e-01 -3.35185780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.99, Y:-14.30, Z:-3.35 [[ 9.79713917e-01 2.00236517e-01 8.12270927e-03 1.35991066e+02] [-2.00229357e-01 9.79747588e-01 -1.69367619e-03 -1.43002734e+01] [-8.29734064e-03 3.29132844e-05 9.99965576e-01 -3.35246088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:-14.31, Z:-3.35 [[ 9.79445717e-01 2.01510524e-01 8.92172150e-03 1.36017858e+02] [-2.01501933e-01 9.79486349e-01 -1.86088455e-03 -1.43077835e+01] [-9.11369225e-03 2.48912784e-05 9.99958469e-01 -3.35276127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:-14.32, Z:-3.35 [[ 9.78868084e-01 2.04258809e-01 9.77817102e-03 1.36044328e+02] [-2.04248650e-01 9.78916921e-01 -2.03712463e-03 -1.43164702e+01] [-9.98811773e-03 -3.10195281e-06 9.99950118e-01 -3.35345195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.07, Y:-14.32, Z:-3.35 [[ 9.78632137e-01 2.05379721e-01 9.91513538e-03 1.36071146e+02] [-2.05369354e-01 9.78682364e-01 -2.06356341e-03 -1.43234542e+01] [-1.01275822e-02 -1.67954801e-05 9.99948715e-01 -3.35407661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:-14.33, Z:-3.35 [[ 9.78407434e-01 2.06422896e-01 1.04154019e-02 1.36098447e+02] [-2.06411541e-01 9.78462870e-01 -2.16533429e-03 -1.43305223e+01] [-1.06380586e-02 -3.12799925e-05 9.99943414e-01 -3.35478817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.12, Y:-14.34, Z:-3.35 [[ 9.78204958e-01 2.07353405e-01 1.09373843e-02 1.36124334e+02] [-2.07340985e-01 9.78266100e-01 -2.26997018e-03 -1.43366308e+01] [-1.11703583e-02 -4.72719531e-05 9.99937608e-01 -3.35496137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-14.34, Z:-3.36 [[ 9.77863603e-01 2.08939183e-01 1.12779359e-02 1.36150673e+02] [-2.08926095e-01 9.77928634e-01 -2.33955858e-03 -1.43425198e+01] [-1.15178419e-02 -6.84859314e-05 9.99933665e-01 -3.35508934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:-14.35, Z:-3.36 [[ 9.77860073e-01 2.08977143e-01 1.08734260e-02 1.36176495e+02] [-2.08964990e-01 9.77920523e-01 -2.25474837e-03 -1.43496187e+01] [-1.11045373e-02 -6.73369445e-05 9.99938340e-01 -3.35575388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:-14.36, Z:-3.36 [[ 9.78194661e-01 2.07470084e-01 9.55873529e-03 1.36202670e+02] [-2.07460627e-01 9.78241362e-01 -1.98141584e-03 -1.43622957e+01] [-9.76183474e-03 -4.48508121e-05 9.99952351e-01 -3.35730256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:-14.37, Z:-3.36 [[ 9.78499454e-01 2.06052750e-01 9.00464041e-03 1.36228397e+02] [-2.06044295e-01 9.78540885e-01 -1.86685211e-03 -1.43715119e+01] [-9.19607880e-03 -2.86410076e-05 9.99957715e-01 -3.35876911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:-14.38, Z:-3.36 [[ 9.78833760e-01 2.04474049e-01 8.65059064e-03 1.36255411e+02] [-2.04466202e-01 9.78871985e-01 -1.79141142e-03 -1.43804037e+01] [-8.83411797e-03 -1.52594306e-05 9.99960978e-01 -3.35958026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-14.39, Z:-3.36 [[ 9.79111700e-01 2.03119441e-01 9.09793297e-03 1.36281326e+02] [-2.03110709e-01 9.79153968e-01 -1.88344820e-03 -1.43884854e+01] [-9.29084211e-03 -3.78144902e-06 9.99956839e-01 -3.36008220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.31, Y:-14.40, Z:-3.36 [[ 9.79587474e-01 2.00713264e-01 1.10709797e-02 1.36307246e+02] [-2.00700197e-01 9.79650032e-01 -2.29038892e-03 -1.43995965e+01] [-1.13053970e-02 2.16884983e-05 9.99936092e-01 -3.35995657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-14.41, Z:-3.36 [[ 9.79855069e-01 1.99389038e-01 1.13161830e-02 1.36333653e+02] [-1.99375308e-01 9.79920410e-01 -2.34020132e-03 -1.44087004e+01] [-1.15555692e-02 3.68906490e-05 9.99933232e-01 -3.36047284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-14.42, Z:-3.36 [[ 9.80340075e-01 1.97074081e-01 9.75420094e-03 1.36358746e+02] [-1.97063768e-01 9.80388598e-01 -2.01683957e-03 -1.44223648e+01] [-9.96037419e-03 5.49890679e-05 9.99950393e-01 -3.36200277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:-14.43, Z:-3.36 [[ 9.80511507e-01 1.96225118e-01 9.63787787e-03 1.36384485e+02] [-1.96215013e-01 9.80558871e-01 -1.99238668e-03 -1.44323377e+01] [-9.84146296e-03 6.24617351e-05 9.99951570e-01 -3.36344681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-14.44, Z:-3.36 [[ 9.80589298e-01 1.95836711e-01 9.62346227e-03 1.36411347e+02] [-1.95826635e-01 9.80636517e-01 -1.98761890e-03 -1.44428727e+01] [-9.82636727e-03 6.45075897e-05 9.99951718e-01 -3.36391113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-14.46, Z:-3.36 [[ 9.80516861e-01 1.96216060e-01 9.27051901e-03 1.36435722e+02] [-1.96206731e-01 9.80560684e-01 -1.91426422e-03 -1.44570538e+01] [-9.46591584e-03 5.80301176e-05 9.99955196e-01 -3.36455279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-14.47, Z:-3.36 [[ 9.80447083e-01 1.96560519e-01 9.35303495e-03 1.36462462e+02] [-1.96551047e-01 9.80491693e-01 -1.93034944e-03 -1.44659522e+01] [-9.55000355e-03 5.42566683e-05 9.99954396e-01 -3.36478731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:-14.47, Z:-3.37 [[ 9.80295538e-01 1.97280347e-01 1.00560420e-02 1.36489619e+02] [-1.97269445e-01 9.80347113e-01 -2.07458419e-03 -1.44748409e+01] [-1.02676865e-02 4.99558002e-05 9.99947285e-01 -3.36552127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.52, Y:-14.48, Z:-3.37 [[ 9.80106675e-01 1.98190947e-01 1.05477272e-02 1.36515349e+02] [-1.98179014e-01 9.80163429e-01 -2.17528420e-03 -1.44841389e+01] [-1.07696181e-02 4.16723966e-05 9.99942005e-01 -3.36596224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-14.50, Z:-3.37 [[ 9.79643666e-01 2.00454990e-01 1.07742931e-02 1.36540107e+02] [-2.00442687e-01 9.79702912e-01 -2.22096361e-03 -1.44968023e+01] [-1.10008096e-02 1.61246798e-05 9.99939489e-01 -3.36625710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.57, Y:-14.51, Z:-3.37 [[ 9.79389919e-01 2.01692117e-01 1.07553057e-02 1.36568156e+02] [-2.01679946e-01 9.79448973e-01 -2.21575512e-03 -1.45059071e+01] [-1.09811735e-02 9.58754456e-07 9.99939705e-01 -3.36669797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.59, Y:-14.52, Z:-3.37 [[ 9.78850126e-01 2.04296091e-01 1.07488299e-02 1.36593691e+02] [-2.04284095e-01 9.78909141e-01 -2.21408988e-03 -1.45184720e+01] [-1.09744577e-02 -2.85528292e-05 9.99939778e-01 -3.36709232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-14.53, Z:-3.37 [[ 9.78584967e-01 2.05552993e-01 1.09284119e-02 1.36620868e+02] [-2.05540682e-01 9.78645985e-01 -2.25009501e-03 -1.45272556e+01] [-1.11575602e-02 -4.43240831e-05 9.99937752e-01 -3.36750648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.65, Y:-14.54, Z:-3.37 [[ 9.78335100e-01 2.06726361e-01 1.11644274e-02 1.36647513e+02] [-2.06713594e-01 9.78398798e-01 -2.29823918e-03 -1.45352360e+01] [-1.13983690e-02 -5.93908617e-05 9.99935035e-01 -3.36810391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-14.54, Z:-3.37 [[ 9.78136860e-01 2.07666332e-01 1.10895389e-02 1.36673933e+02] [-2.07653804e-01 9.78199719e-01 -2.28210725e-03 -1.45428345e+01] [-1.13217007e-02 -7.05717120e-05 9.99935905e-01 -3.36918145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:-14.55, Z:-3.37 [[ 9.77871226e-01 2.08965979e-01 1.00540977e-02 1.36701162e+02] [-2.08955757e-01 9.77922908e-01 -2.06840446e-03 -1.45528348e+01] [-1.02643586e-02 -7.82283926e-05 9.99947317e-01 -3.37076068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-14.56, Z:-3.37 [[ 9.77781025e-01 2.09388888e-01 1.00280112e-02 1.36727899e+02] [-2.09378744e-01 9.77832443e-01 -2.06268928e-03 -1.45608232e+01] [-1.02376189e-02 -8.27939559e-05 9.99947591e-01 -3.37156024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-14.57, Z:-3.37 [[ 9.77820024e-01 2.09218133e-01 9.78638888e-03 1.36755597e+02] [-2.09208471e-01 9.77868993e-01 -2.01222010e-03 -1.45698472e+01] [-9.99079917e-03 -7.98063479e-05 9.99950088e-01 -3.37195707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-14.58, Z:-3.37 [[ 9.77966337e-01 2.08546884e-01 9.48893066e-03 1.36782096e+02] [-2.08537772e-01 9.78012368e-01 -1.95078932e-03 -1.45766690e+01] [-9.68712258e-03 -7.09941703e-05 9.99953076e-01 -3.37284719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.81, Y:-14.58, Z:-3.37 [[ 9.78164840e-01 2.07619724e-01 9.35926163e-03 1.36809965e+02] [-2.07610823e-01 9.78209613e-01 -1.92343132e-03 -1.45840836e+01] [-9.55466198e-03 -6.16511214e-05 9.99954351e-01 -3.37347924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.84, Y:-14.59, Z:-3.37 [[ 9.78387677e-01 2.06553858e-01 9.64657983e-03 1.36836901e+02] [-2.06544355e-01 9.78435231e-01 -1.98211715e-03 -1.45920665e+01] [-9.84796751e-03 -5.31676063e-05 9.99951506e-01 -3.37421622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:-14.60, Z:-3.37 [[ 9.78839393e-01 2.04358981e-01 1.05284898e-02 1.36864757e+02] [-2.04347543e-01 9.78896014e-01 -2.16233711e-03 -1.46020949e+01] [-1.07481898e-02 -3.48902899e-05 9.99942236e-01 -3.37431413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:-14.61, Z:-3.37 [[ 9.79011994e-01 2.03523584e-01 1.06614158e-02 1.36893166e+02] [-2.03511816e-01 9.79070043e-01 -2.18881165e-03 -1.46090818e+01] [-1.08837476e-02 -2.68512255e-05 9.99940770e-01 -3.37487543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.92, Y:-14.62, Z:-3.38 [[ 9.79078992e-01 2.03186229e-01 1.09399992e-02 1.36921561e+02] [-2.03173819e-01 9.79140110e-01 -2.24571259e-03 -1.46163417e+01] [-1.11680899e-02 -2.39913968e-05 9.99937635e-01 -3.37583099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.95, Y:-14.63, Z:-3.38 [[ 9.79164232e-01 2.02792024e-01 1.06207813e-02 1.36949009e+02] [-2.02780308e-01 9.79221831e-01 -2.17992979e-03 -1.46269618e+01] [-1.08421732e-02 -1.91760179e-05 9.99941222e-01 -3.37633820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:-14.63, Z:-3.38 [[ 9.79161286e-01 2.02836382e-01 1.00288439e-02 1.36976595e+02] [-2.02825939e-01 9.79212644e-01 -2.05836705e-03 -1.46344510e+01] [-1.02378824e-02 -1.86363411e-05 9.99947591e-01 -3.37715821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:-14.64, Z:-3.38 [[ 9.79368985e-01 2.01908116e-01 8.33691029e-03 1.37005257e+02] [-2.01900869e-01 9.79404468e-01 -1.71075164e-03 -1.46420853e+01] [-8.51062184e-03 -7.77232891e-06 9.99963784e-01 -3.37877042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:-14.65, Z:-3.38 [[ 9.79598907e-01 2.00798337e-01 8.12466859e-03 1.37032767e+02] [-2.00791415e-01 9.79632599e-01 -1.66719582e-03 -1.46501497e+01] [-8.29396035e-03 1.81950245e-06 9.99965605e-01 -3.37949988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:-14.66, Z:-3.38 [[ 9.80217995e-01 1.97702393e-01 9.29767818e-03 1.37061689e+02] [-1.97693199e-01 9.80262089e-01 -1.90690541e-03 -1.46619841e+01] [-9.49116120e-03 3.10952607e-05 9.99954957e-01 -3.37961404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.09, Y:-14.67, Z:-3.38 [[ 9.80625974e-01 1.95642019e-01 9.84373311e-03 1.37092119e+02] [-1.95631613e-01 9.80675378e-01 -2.01855262e-03 -1.46705090e+01] [-1.00484204e-02 5.36997438e-05 9.99949512e-01 -3.38068328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:137.12, Y:-14.68, Z:-3.38 [[ 9.81066984e-01 1.93414425e-01 9.92137835e-03 1.37122027e+02] [-1.93403756e-01 9.81117146e-01 -2.03285398e-03 -1.46798283e+01] [-1.01272177e-02 7.55340843e-05 9.99948716e-01 -3.38176927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:-14.69, Z:-3.38 [[ 9.81484237e-01 1.91294261e-01 9.75695788e-03 1.37153080e+02] [-1.91283823e-01 9.81532728e-01 -2.00063126e-03 -1.46904191e+01] [-9.95948276e-03 9.72398338e-05 9.99950398e-01 -3.38238473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.18, Y:-14.70, Z:-3.38 [[ 9.82118754e-01 1.87989095e-01 1.01416517e-02 1.37183664e+02] [-1.87977625e-01 9.82171106e-01 -2.08116581e-03 -1.47046783e+01] [-1.03520738e-02 1.37548367e-04 9.99946406e-01 -3.38279977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-14.71, Z:-3.38 [[ 9.82125724e-01 1.87898282e-01 1.11039357e-02 1.37214498e+02] [-1.87884493e-01 9.82188481e-01 -2.28155319e-03 -1.47131576e+01] [-1.13348576e-02 1.54514766e-04 9.99935746e-01 -3.38327829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:-14.72, Z:-3.38 [[ 9.81906346e-01 1.89011594e-01 1.15993858e-02 1.37245101e+02] [-1.88996597e-01 9.81974844e-01 -2.38569692e-03 -1.47215494e+01] [-1.18412295e-02 1.50286495e-04 9.99929879e-01 -3.38381243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.28, Y:-14.73, Z:-3.38 [[ 9.81078255e-01 1.93351001e-01 1.00423546e-02 1.37275353e+02] [-1.93339971e-01 9.81129646e-01 -2.06703890e-03 -1.47319405e+01] [-1.02525159e-02 8.63383730e-05 9.99947438e-01 -3.38413449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:-14.74, Z:-3.39 [[ 9.80447495e-01 1.96539466e-01 9.74411290e-03 1.37306255e+02] [-1.96529222e-01 9.80495913e-01 -2.00739586e-03 -1.47398983e+01] [-9.94859539e-03 5.31433145e-05 9.99950510e-01 -3.38523778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:-14.75, Z:-3.39 [[ 9.79789053e-01 1.99789370e-01 9.88026959e-03 1.37338810e+02] [-1.99778985e-01 9.79838868e-01 -2.03710501e-03 -1.47477126e+01] [-1.00880641e-02 2.20629525e-05 9.99949114e-01 -3.38653518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.37, Y:-14.76, Z:-3.39 [[ 9.78591888e-01 2.05606971e-01 9.14818637e-03 1.37370225e+02] [-2.05598308e-01 9.78634647e-01 -1.88767435e-03 -1.47562157e+01] [-9.34085114e-03 -3.35888333e-05 9.99956373e-01 -3.38785330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-14.76, Z:-3.39 [[ 9.78052973e-01 2.08168154e-01 8.85448137e-03 1.37400886e+02] [-2.08160127e-01 9.78093051e-01 -1.82896899e-03 -1.47635961e+01] [-9.04123980e-03 -5.43214027e-05 9.99959126e-01 -3.38894014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:-14.77, Z:-3.39 [[ 9.77378765e-01 2.11268208e-01 9.82309308e-03 1.37431801e+02] [-2.11258458e-01 9.77428123e-01 -2.03163255e-03 -1.47713689e+01] [-1.00305868e-02 -8.95369884e-05 9.99949688e-01 -3.38936924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:-14.78, Z:-3.39 [[ 9.77365878e-01 2.11327848e-01 9.82244697e-03 1.37463759e+02] [-2.11318070e-01 9.77415231e-01 -2.03475039e-03 -1.47780855e+01] [-1.00306087e-02 -8.69649356e-05 9.99949688e-01 -3.39013640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-14.78, Z:-3.39 [[ 9.77228390e-01 2.11947169e-01 1.01523643e-02 1.37494695e+02] [-2.11936766e-01 9.77281120e-01 -2.10216962e-03 -1.47848426e+01] [-1.03672629e-02 -9.73594254e-05 9.99946254e-01 -3.39120308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:-14.79, Z:-3.39 [[ 9.77167235e-01 2.12253968e-01 9.61499534e-03 1.37527286e+02] [-2.12244638e-01 9.77214533e-01 -1.99233372e-03 -1.47925608e+01] [-9.81879392e-03 -9.38879716e-05 9.99951790e-01 -3.39210289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.56, Y:-14.80, Z:-3.39 [[ 9.77197037e-01 2.12142794e-01 9.02135579e-03 1.37559273e+02] [-2.12134562e-01 9.77238675e-01 -1.87080469e-03 -1.48008539e+01] [-9.21289551e-03 -8.55965593e-05 9.99957557e-01 -3.39320967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.59, Y:-14.81, Z:-3.39 [[ 9.77140246e-01 2.12416278e-01 8.73299571e-03 1.37589917e+02] [-2.12408558e-01 9.77179266e-01 -1.81284035e-03 -1.48092849e+01] [-8.91877913e-03 -8.35637612e-05 9.99960223e-01 -3.39376117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.62, Y:-14.82, Z:-3.40 [[ 9.77053836e-01 2.12795640e-01 9.15517391e-03 1.37620943e+02] [-2.12787154e-01 9.77096724e-01 -1.90248581e-03 -1.48157945e+01] [-9.35033112e-03 -8.92723429e-05 9.99956281e-01 -3.39528830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-14.82, Z:-3.40 [[ 9.77005212e-01 2.13024761e-01 9.01477190e-03 1.37653476e+02] [-2.13016530e-01 9.77046797e-01 -1.87478973e-03 -1.48231338e+01] [-9.20723065e-03 -8.86160867e-05 9.99957609e-01 -3.39601469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:-14.83, Z:-3.40 [[ 9.76963886e-01 2.13171490e-01 9.97407371e-03 1.37684089e+02] [-2.13161393e-01 9.77014793e-01 -2.07697738e-03 -1.48317045e+01] [-1.01875699e-02 -9.69555544e-05 9.99948101e-01 -3.39598468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:-14.84, Z:-3.40 [[ 9.77044343e-01 2.12770488e-01 1.06334416e-02 1.37715942e+02] [-2.12758962e-01 9.77102200e-01 -2.21680593e-03 -1.48383197e+01] [-1.08616301e-02 -9.64423093e-05 9.99941006e-01 -3.39605720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.75, Y:-14.84, Z:-3.40 [[ 9.77124063e-01 2.12343370e-01 1.17838671e-02 1.37747671e+02] [-2.12329154e-01 9.77195110e-01 -2.45906580e-03 -1.48443545e+01] [-1.20373036e-02 -9.92461597e-05 9.99927544e-01 -3.39689645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-14.85, Z:-3.40 [[ 9.77467624e-01 2.10772355e-01 1.14916428e-02 1.37780176e+02] [-2.10758708e-01 9.77535170e-01 -2.39968156e-03 -1.48518308e+01] [-1.17392715e-02 -7.63527563e-05 9.99931089e-01 -3.39798771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.81, Y:-14.86, Z:-3.40 [[ 9.77660326e-01 2.09931288e-01 1.04471062e-02 1.37812641e+02] [-2.09919944e-01 9.77716140e-01 -2.18310754e-03 -1.48589458e+01] [-1.06726069e-02 -5.87183143e-05 9.99943044e-01 -3.39925541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:-14.86, Z:-3.40 [[ 9.78049998e-01 2.08133895e-01 9.92381811e-03 1.37844866e+02] [-2.08123549e-01 9.78100343e-01 -2.07551906e-03 -1.48641331e+01] [-1.01384758e-02 -3.54188368e-05 9.99948604e-01 -3.40078412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:-14.87, Z:-3.40 [[ 9.78264362e-01 2.07122871e-01 9.94754670e-03 1.37876348e+02] [-2.07112392e-01 9.78314937e-01 -2.08352436e-03 -1.48713965e+01] [-1.01633791e-02 -2.20225688e-05 9.99948351e-01 -3.40209407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.91, Y:-14.88, Z:-3.40 [[ 9.78470280e-01 2.06177547e-01 9.31292453e-03 1.37908460e+02] [-2.06168320e-01 9.78514598e-01 -1.95060854e-03 -1.48791819e+01] [-9.51500429e-03 -1.14175223e-05 9.99954731e-01 -3.40255595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:-14.89, Z:-3.40 [[ 9.78627826e-01 2.05440423e-01 9.04492551e-03 1.37940552e+02] [-2.05431673e-01 9.78669624e-01 -1.89610783e-03 -1.48864472e+01] [-9.24153104e-03 -2.53030238e-06 9.99957296e-01 -3.40354676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-14.89, Z:-3.40 [[ 9.78913025e-01 2.04134657e-01 7.63752005e-03 1.37972039e+02] [-2.04128371e-01 9.78942818e-01 -1.60191665e-03 -1.48914018e+01] [-7.80370211e-03 9.10254229e-06 9.99969551e-01 -3.40453640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.00, Y:-14.90, Z:-3.41 [[ 9.79027291e-01 2.03617595e-01 6.74082947e-03 1.38004624e+02] [-2.03612681e-01 9.79050497e-01 -1.41460990e-03 -1.48976889e+01] [-6.88765191e-03 1.24233358e-05 9.99976280e-01 -3.40600099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:-14.90, Z:-3.41 [[ 9.79196487e-01 2.02825227e-01 6.01398294e-03 1.38037048e+02] [-2.02821296e-01 9.79214955e-01 -1.26280670e-03 -1.49042878e+01] [-6.14511108e-03 1.67720735e-05 9.99981118e-01 -3.40760260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:-14.91, Z:-3.41 [[ 9.79618677e-01 2.00786085e-01 5.67418944e-03 1.38067676e+02] [-2.00782545e-01 9.79635109e-01 -1.19259059e-03 -1.49123056e+01] [-5.79809079e-03 2.90058162e-05 9.99983191e-01 -3.40923890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:-14.92, Z:-3.41 [[ 9.79755264e-01 2.00103112e-01 6.19417632e-03 1.38099932e+02] [-2.00098872e-01 9.79774843e-01 -1.30325296e-03 -1.49202673e+01] [-6.32968311e-03 3.74212547e-05 9.99979967e-01 -3.40980498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.13, Y:-14.93, Z:-3.41 [[ 9.80071938e-01 1.98545554e-01 6.21771408e-03 1.38132150e+02] [-1.98541242e-01 9.80091659e-01 -1.30943151e-03 -1.49276432e+01] [-6.35391151e-03 4.88644045e-05 9.99979813e-01 -3.41098570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.16, Y:-14.93, Z:-3.41 [[ 9.80135032e-01 1.98251028e-01 5.64348926e-03 1.38163063e+02] [-1.98247465e-01 9.80151278e-01 -1.18947658e-03 -1.49343654e+01] [-5.76728817e-03 4.70402214e-05 9.99983368e-01 -3.41124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-14.94, Z:-3.41 [[ 9.80180689e-01 1.98018248e-01 5.88135101e-03 1.38195117e+02] [-1.98014368e-01 9.80198332e-01 -1.24072872e-03 -1.49411013e+01] [-6.01057738e-03 5.15463269e-05 9.99981935e-01 -3.41221622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.23, Y:-14.95, Z:-3.41 [[ 9.80177748e-01 1.98002260e-01 6.83275409e-03 1.38226789e+02] [-1.97997007e-01 9.80201562e-01 -1.44359566e-03 -1.49485662e+01] [-6.98331143e-03 6.21154881e-05 9.99975614e-01 -3.41274121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:-14.96, Z:-3.41 [[ 9.80153042e-01 1.98056878e-01 8.57247425e-03 1.38256842e+02] [-1.98048584e-01 9.80190526e-01 -1.81429410e-03 -1.49596245e+01] [-8.76199147e-03 8.05194925e-05 9.99961610e-01 -3.41223448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.29, Y:-14.97, Z:-3.41 [[ 9.80113255e-01 1.98243708e-01 8.79995943e-03 1.38288845e+02] [-1.98234961e-01 9.80152756e-01 -1.86408370e-03 -1.49681030e+01] [-8.99484736e-03 8.25535264e-05 9.99959542e-01 -3.41221654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.32, Y:-14.97, Z:-3.41 [[ 9.80028010e-01 1.98659623e-01 8.91372225e-03 1.38319965e+02] [-1.98650647e-01 9.80068542e-01 -1.89022086e-03 -1.49746519e+01] [-9.11156934e-03 8.17526864e-05 9.99958485e-01 -3.41292101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:-14.98, Z:-3.41 [[ 9.79980308e-01 1.98846231e-01 9.93848561e-03 1.38352001e+02] [-1.98835059e-01 9.80030698e-01 -2.10972004e-03 -1.49811099e+01] [-1.01595309e-02 9.13647184e-05 9.99948386e-01 -3.41411983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-14.99, Z:-3.42 [[ 9.80056204e-01 1.98467620e-01 1.00220198e-02 1.38382979e+02] [-1.98456218e-01 9.80107440e-01 -2.12966015e-03 -1.49900231e+01] [-1.02453247e-02 9.82545026e-05 9.99947510e-01 -3.41505652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:-15.00, Z:-3.42 [[ 9.80472042e-01 1.96432688e-01 9.42202143e-03 1.38414147e+02] [-1.96422503e-01 9.80517305e-01 -2.00348322e-03 -1.50023771e+01] [-9.63200466e-03 1.13662246e-04 9.99953605e-01 -3.41574786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:-15.01, Z:-3.42 [[ 9.80703732e-01 1.95293227e-01 8.98587545e-03 1.38445772e+02] [-1.95283902e-01 9.80744891e-01 -1.91217492e-03 -1.50125596e+01] [-9.18628625e-03 1.20480256e-04 9.99957798e-01 -3.41698060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:-15.02, Z:-3.42 [[ 9.80858475e-01 1.94543976e-01 8.32422237e-03 1.38476180e+02] [-1.94535934e-01 9.80893790e-01 -1.77295020e-03 -1.50233660e+01] [-8.51009481e-03 1.19652864e-04 9.99963781e-01 -3.41790509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.51, Y:-15.04, Z:-3.42 [[ 9.80854769e-01 1.94602198e-01 7.34217140e-03 1.38507539e+02] [-1.94595939e-01 9.80882242e-01 -1.56440919e-03 -1.50357994e+01] [-7.50624301e-03 1.05701480e-04 9.99971822e-01 -3.41823703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.54, Y:-15.04, Z:-3.42 [[ 9.80598271e-01 1.95902742e-01 7.01046448e-03 1.38539359e+02] [-1.95897060e-01 9.80623326e-01 -1.49492450e-03 -1.50431361e+01] [-7.16748481e-03 9.25910010e-05 9.99974309e-01 -3.41935931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:-15.05, Z:-3.42 [[ 9.80133709e-01 1.98217728e-01 6.90255212e-03 1.38570133e+02] [-1.98212265e-01 9.80158011e-01 -1.47353742e-03 -1.50515904e+01] [-7.05767300e-03 7.60932080e-05 9.99975091e-01 -3.42078291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:-15.07, Z:-3.42 [[ 9.79245095e-01 2.02581778e-01 6.29824827e-03 1.38600942e+02] [-2.02577317e-01 9.79265348e-01 -1.34512847e-03 -1.50654127e+01] [-6.44015480e-03 4.13282207e-05 9.99979261e-01 -3.42068696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:-15.08, Z:-3.42 [[ 9.78714164e-01 2.05087461e-01 7.59729746e-03 1.38631437e+02] [-2.05081015e-01 9.78743650e-01 -1.62641616e-03 -1.50754415e+01] [-7.76936421e-03 3.37350613e-05 9.99969817e-01 -3.42099619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:-15.08, Z:-3.42 [[ 9.78186941e-01 2.07553177e-01 8.48452693e-03 1.38662685e+02] [-2.07545226e-01 9.78223736e-01 -1.81680247e-03 -1.50847209e+01] [-8.67684876e-03 1.62493892e-05 9.99962355e-01 -3.42110416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:-15.09, Z:-3.42 [[ 9.77614812e-01 2.10219501e-01 8.77723692e-03 1.38692978e+02] [-2.10211080e-01 9.77654214e-01 -1.88161903e-03 -1.50940467e+01] [-8.97665567e-03 -5.57381830e-06 9.99959709e-01 -3.42148333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:-15.11, Z:-3.42 [[ 9.76403931e-01 2.15808324e-01 7.88236279e-03 1.38724244e+02] [-2.15801707e-01 9.76435745e-01 -1.69069408e-03 -1.51054547e+01] [-8.06148664e-03 -5.02269963e-05 9.99967504e-01 -3.42173773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.76, Y:-15.11, Z:-3.42 [[ 9.75619439e-01 2.19305906e-01 8.46348639e-03 1.38755462e+02] [-2.19298389e-01 9.75656145e-01 -1.81754692e-03 -1.51138737e+01] [-8.65605128e-03 -8.27948337e-05 9.99962532e-01 -3.42277526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-15.12, Z:-3.42 [[ 9.74736333e-01 2.23163770e-01 9.32809383e-03 1.38787027e+02] [-2.23154798e-01 9.74780958e-01 -2.00515526e-03 -1.51222624e+01] [-9.54032624e-03 -1.27111213e-04 9.99954482e-01 -3.42362120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:-15.13, Z:-3.42 [[ 9.73855943e-01 2.26961962e-01 9.63696569e-03 1.38819392e+02] [-2.26952551e-01 9.73903609e-01 -2.07360587e-03 -1.51306048e+01] [-9.85610532e-03 -1.67740545e-04 9.99951413e-01 -3.42401011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:-15.14, Z:-3.42 [[ 9.72301376e-01 2.33565158e-01 8.79496399e-03 1.38850882e+02] [-2.33557579e-01 9.72341129e-01 -1.89364085e-03 -1.51393447e+01] [-8.99399374e-03 -2.12940889e-04 9.99959531e-01 -3.42422193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.88, Y:-15.15, Z:-3.43 [[ 9.71648205e-01 2.36293862e-01 8.06077866e-03 1.38881824e+02] [-2.36287577e-01 9.71681616e-01 -1.73704052e-03 -1.51463289e+01] [-8.24296245e-03 -2.16869554e-04 9.99966003e-01 -3.42529230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:-15.15, Z:-3.43 [[ 9.70738981e-01 2.40024804e-01 7.34330466e-03 1.38912961e+02] [-2.40019686e-01 9.70766729e-01 -1.58362468e-03 -1.51522161e+01] [-7.50874505e-03 -2.25251474e-04 9.99971784e-01 -3.42673042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.95, Y:-15.16, Z:-3.43 [[ 9.70449949e-01 2.41207849e-01 6.75799448e-03 1.38945056e+02] [-2.41203537e-01 9.70473455e-01 -1.45808094e-03 -1.51592474e+01] [-6.91015482e-03 -2.15057603e-04 9.99976101e-01 -3.42756715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.98, Y:-15.17, Z:-3.43 [[ 9.70270124e-01 2.41946506e-01 6.14606894e-03 1.38975979e+02] [-2.41942949e-01 9.70289569e-01 -1.32707075e-03 -1.51669683e+01] [-6.28454672e-03 -1.99380938e-04 9.99980232e-01 -3.42814981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:-15.18, Z:-3.43 [[ 9.70469353e-01 2.41155505e-01 5.76698825e-03 1.39007840e+02] [-2.41152355e-01 9.70486471e-01 -1.24582285e-03 -1.51751340e+01] [-5.89722111e-03 -1.81689900e-04 9.99982595e-01 -3.42848183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:-15.18, Z:-3.43 [[ 9.70646836e-01 2.40445022e-01 5.55983583e-03 1.39040256e+02] [-2.40442078e-01 9.70662744e-01 -1.20195768e-03 -1.51815143e+01] [-5.68573024e-03 -1.70142066e-04 9.99983822e-01 -3.42909553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:-15.19, Z:-3.43 [[ 9.71132820e-01 2.38463183e-01 6.02956936e-03 1.39072601e+02] [-2.38459674e-01 9.71151523e-01 -1.30497788e-03 -1.51866456e+01] [-6.16681464e-03 -1.70502295e-04 9.99980970e-01 -3.43004235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:-15.19, Z:-3.43 [[ 9.71437358e-01 2.37213318e-01 6.26903879e-03 1.39103517e+02] [-2.37209480e-01 9.71457572e-01 -1.35952808e-03 -1.51933809e+01] [-6.41260336e-03 -1.66379068e-04 9.99979425e-01 -3.43028276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.14, Y:-15.20, Z:-3.43 [[ 9.71754626e-01 2.35906496e-01 6.40878323e-03 1.39135259e+02] [-2.35902459e-01 9.71775745e-01 -1.38944960e-03 -1.52008957e+01] [-6.55568029e-03 -1.61643651e-04 9.99978498e-01 -3.43055520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.17, Y:-15.21, Z:-3.43 [[ 9.72154027e-01 2.34243345e-01 6.82669163e-03 1.39166594e+02] [-2.34238711e-01 9.72177983e-01 -1.48195251e-03 -1.52083938e+01] [-6.98389681e-03 -1.58389350e-04 9.99975600e-01 -3.43116298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.20, Y:-15.22, Z:-3.43 [[ 9.73137000e-01 2.30121520e-01 6.96171298e-03 1.39197638e+02] [-2.30116584e-01 9.73161893e-01 -1.51277053e-03 -1.52159277e+01] [-7.12299484e-03 -1.29872634e-04 9.99974623e-01 -3.43140363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.23, Y:-15.22, Z:-3.43 [[ 9.73654722e-01 2.27896928e-01 7.71181207e-03 1.39229884e+02] [-2.27890789e-01 9.73685254e-01 -1.67739623e-03 -1.52238064e+01] [-7.89115114e-03 -1.24246180e-04 9.99968857e-01 -3.43218155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:-15.23, Z:-3.43 [[ 9.74658185e-01 2.23517281e-01 9.02485432e-03 1.39261842e+02] [-2.23508662e-01 9.74699961e-01 -1.96548049e-03 -1.52307980e+01] [-9.23584401e-03 -1.01461467e-04 9.99957344e-01 -3.43184432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:-15.24, Z:-3.43 [[ 9.75120608e-01 2.21486688e-01 9.13490910e-03 1.39294298e+02] [-2.21477752e-01 9.75163392e-01 -1.99124231e-03 -1.52379203e+01] [-9.34906261e-03 -8.14777185e-05 9.99956293e-01 -3.43261889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:-15.25, Z:-3.43 [[ 9.75549125e-01 2.19608118e-01 8.72804875e-03 1.39325875e+02] [-2.19599869e-01 9.75588167e-01 -1.90434893e-03 -1.52454116e+01] [-8.93319156e-03 -5.88924369e-05 9.99960097e-01 -3.43316073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:-15.25, Z:-3.43 [[ 9.75814015e-01 2.18459921e-01 7.89123001e-03 1.39357707e+02] [-2.18453133e-01 9.75845921e-01 -1.72273606e-03 -1.52536823e+01] [-8.07697340e-03 -4.27939295e-05 9.99967380e-01 -3.43390914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:-15.26, Z:-3.44 [[ 9.75781290e-01 2.18672294e-01 5.77072682e-03 1.39388442e+02] [-2.18668667e-01 9.75798354e-01 -1.25994872e-03 -1.52627810e+01] [-5.90658161e-03 -3.24427505e-05 9.99982555e-01 -3.43520284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:-15.27, Z:-3.44 [[ 9.75763065e-01 2.18753619e-01 5.77013512e-03 1.39421121e+02] [-2.18749977e-01 9.75780126e-01 -1.26264979e-03 -1.52700803e+01] [-5.90659238e-03 -3.01698884e-05 9.99982555e-01 -3.43598973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:-15.28, Z:-3.44 [[ 9.75543311e-01 2.19742962e-01 5.31778933e-03 1.39451947e+02] [-2.19739891e-01 9.75557804e-01 -1.16223967e-03 -1.52768894e+01] [-5.44320487e-03 -3.47153116e-05 9.99985185e-01 -3.43719409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:-15.28, Z:-3.44 [[ 9.74776468e-01 2.23110560e-01 5.70215083e-03 1.39484689e+02] [-2.23107081e-01 9.74793145e-01 -1.24734568e-03 -1.52834935e+01] [-5.83671353e-03 -5.63070033e-05 9.99982965e-01 -3.43748818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:-15.29, Z:-3.44 [[ 9.74201725e-01 2.25592360e-01 6.25181299e-03 1.39516432e+02] [-2.25588216e-01 9.74221782e-01 -1.36950347e-03 -1.52900241e+01] [-6.39960192e-03 -7.61626979e-05 9.99979519e-01 -3.43776609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.55, Y:-15.30, Z:-3.44 [[ 9.73555552e-01 2.28337003e-01 7.19728644e-03 1.39549337e+02] [-2.28331572e-01 9.73582149e-01 -1.57846218e-03 -1.52962558e+01] [-7.36757093e-03 -1.06647109e-04 9.99972853e-01 -3.43791205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.58, Y:-15.30, Z:-3.44 [[ 9.72874723e-01 2.31204242e-01 7.70528073e-03 1.39580474e+02] [-2.31198091e-01 9.72905227e-01 -1.69192740e-03 -1.53018045e+01] [-7.88768869e-03 -1.35412798e-04 9.99968883e-01 -3.43819425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:-15.31, Z:-3.44 [[ 9.71621693e-01 2.36426275e-01 7.34178509e-03 1.39612618e+02] [-2.36420830e-01 9.71649416e-01 -1.61330024e-03 -1.53051854e+01] [-7.51506777e-03 -1.68233418e-04 9.99971747e-01 -3.43866241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.64, Y:-15.31, Z:-3.44 [[ 9.70989574e-01 2.39008780e-01 7.35192784e-03 1.39644873e+02] [-2.39003386e-01 9.71017388e-01 -1.61663462e-03 -1.53101096e+01] [-7.52523964e-03 -1.87400289e-04 9.99971667e-01 -3.43971013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:-15.31, Z:-3.44 [[ 9.69760978e-01 2.43927605e-01 7.93535171e-03 1.39677115e+02] [-2.43921461e-01 9.69793414e-01 -1.74798983e-03 -1.53112576e+01] [-8.12203480e-03 -2.40470257e-04 9.99966987e-01 -3.44025713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:-15.31, Z:-3.44 [[ 9.69320164e-01 2.45659188e-01 8.36554114e-03 1.39709428e+02] [-2.45652413e-01 9.69356225e-01 -1.84394749e-03 -1.53149866e+01] [-8.56217202e-03 -2.67639882e-04 9.99963308e-01 -3.44101883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.74, Y:-15.32, Z:-3.44 [[ 9.68972793e-01 2.47018723e-01 8.57186595e-03 1.39742341e+02] [-2.47011663e-01 9.69010665e-01 -1.88948021e-03 -1.53196230e+01] [-8.77296651e-03 -2.86495940e-04 9.99961476e-01 -3.44190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.77, Y:-15.32, Z:-3.44 [[ 9.69077698e-01 2.46614520e-01 8.34827825e-03 1.39774987e+02] [-2.46607795e-01 9.69113618e-01 -1.84172070e-03 -1.53228259e+01] [-8.54462520e-03 -2.73980033e-04 9.99963456e-01 -3.44343971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:-15.33, Z:-3.44 [[ 9.69489306e-01 2.45017905e-01 7.53073249e-03 1.39807474e+02] [-2.45012376e-01 9.69518526e-01 -1.66236718e-03 -1.53280346e+01] [-7.70849438e-03 -2.33475456e-04 9.99970262e-01 -3.44461543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.84, Y:-15.33, Z:-3.45 [[ 9.70128109e-01 2.42503179e-01 6.60761803e-03 1.39838708e+02] [-2.42498858e-01 9.70150593e-01 -1.45954354e-03 -1.53330462e+01] [-6.76432850e-03 -1.86395609e-04 9.99977104e-01 -3.44588245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.87, Y:-15.34, Z:-3.45 [[ 9.70856178e-01 2.39603254e-01 5.34429698e-03 1.39869183e+02] [-2.39600381e-01 9.70870878e-01 -1.18112442e-03 -1.53375797e+01] [-5.47162355e-03 -1.33793652e-04 9.99985022e-01 -3.44679396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.90, Y:-15.34, Z:-3.45 [[ 9.72033969e-01 2.34778332e-01 5.39419388e-03 1.39901771e+02] [-2.34775326e-01 9.72048931e-01 -1.19277270e-03 -1.53390223e+01] [-5.52345758e-03 -1.07008046e-04 9.99984740e-01 -3.44695984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:-15.34, Z:-3.45 [[ 9.72608616e-01 2.32374904e-01 5.86373981e-03 1.39932336e+02] [-2.32371284e-01 9.72626287e-01 -1.30070401e-03 -1.53429951e+01] [-6.00547845e-03 -9.74888227e-05 9.99981962e-01 -3.44765621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:-15.35, Z:-3.45 [[ 9.73784131e-01 2.27404866e-01 5.61195629e-03 1.39964788e+02] [-2.27401486e-01 9.73800299e-01 -1.24160661e-03 -1.53484672e+01] [-5.74727209e-03 -6.71103836e-05 9.99983482e-01 -3.44799960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.00, Y:-15.36, Z:-3.45 [[ 9.74435239e-01 2.24585723e-01 6.10065583e-03 1.39996424e+02] [-2.24581663e-01 9.74454334e-01 -1.35158762e-03 -1.53558135e+01] [-6.24835780e-03 -5.30608196e-05 9.99980477e-01 -3.44879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.03, Y:-15.36, Z:-3.45 [[ 9.75118089e-01 2.21589673e-01 6.53680121e-03 1.40026491e+02] [-2.21584929e-01 9.75139998e-01 -1.45029842e-03 -1.53629434e+01] [-6.69566748e-03 -3.42444072e-05 9.99977583e-01 -3.44944073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.06, Y:-15.37, Z:-3.45 [[ 9.76724960e-01 2.14374766e-01 7.19810723e-03 1.40058804e+02] [-2.14368812e-01 9.76751483e-01 -1.59784240e-03 -1.53700807e+01] [-7.37329900e-03 1.76028572e-05 9.99972817e-01 -3.45043476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:-15.38, Z:-3.45 [[ 9.77454784e-01 2.11020804e-01 7.23635110e-03 1.40089856e+02] [-2.11014681e-01 9.77481569e-01 -1.60803116e-03 -1.53768752e+01] [-7.41272786e-03 4.48014251e-05 9.99972524e-01 -3.45175107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:-15.38, Z:-3.45 [[ 9.78028484e-01 2.08362481e-01 6.73502568e-03 1.40121776e+02] [-2.08357110e-01 9.78051672e-01 -1.49726936e-03 -1.53839859e+01] [-6.89917788e-03 6.10815941e-05 9.99976199e-01 -3.45315336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:-15.39, Z:-3.45 [[ 9.78547897e-01 2.05924320e-01 6.25995505e-03 1.40152961e+02] [-2.05919623e-01 9.78567917e-01 -1.39284997e-03 -1.53920769e+01] [-6.41261286e-03 7.39228290e-05 9.99979436e-01 -3.45468245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.19, Y:-15.40, Z:-3.45 [[ 9.78387819e-01 2.06701806e-01 5.62488813e-03 1.40185023e+02] [-2.06698023e-01 9.78403986e-01 -1.25207061e-03 -1.54009542e+01] [-5.76221823e-03 6.23573738e-05 9.99983396e-01 -3.45459416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:-15.41, Z:-3.46 [[ 9.78012470e-01 2.08478838e-01 5.30864220e-03 1.40215716e+02] [-2.08475483e-01 9.78026877e-01 -1.18383892e-03 -1.54092132e+01] [-5.43880012e-03 5.10874777e-05 9.99985208e-01 -3.45522819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:-15.42, Z:-3.46 [[ 9.76737792e-01 2.14397808e-01 4.10671005e-03 1.40246718e+02] [-2.14395857e-01 9.76746426e-01 -9.14755517e-04 -1.54164207e+01] [-4.20733594e-03 1.30146651e-05 9.99991149e-01 -3.45554746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:-15.42, Z:-3.46 [[ 9.75992389e-01 2.17775730e-01 3.54784863e-03 1.40278847e+02] [-2.17774298e-01 9.75998838e-01 -7.89725296e-04 -1.54231735e+01] [-3.63467914e-03 -1.86436628e-06 9.99993395e-01 -3.45660669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:-15.43, Z:-3.46 [[ 9.75183126e-01 2.21367714e-01 3.76904278e-03 1.40309161e+02] [-2.21366117e-01 9.75190410e-01 -8.40814463e-04 -1.54291183e+01] [-3.86166355e-03 -1.43902901e-05 9.99992544e-01 -3.45739701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:-15.43, Z:-3.46 [[ 9.73958915e-01 2.26664410e-01 5.22276521e-03 1.40338758e+02] [-2.26661390e-01 9.73972917e-01 -1.17085100e-03 -1.54337969e+01] [-5.35222212e-03 -4.34384587e-05 9.99985676e-01 -3.45852813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.37, Y:-15.44, Z:-3.46 [[ 9.73588936e-01 2.28252830e-01 5.02293095e-03 1.40369597e+02] [-2.28250063e-01 9.73601891e-01 -1.12505361e-03 -1.54409444e+01] [-5.14713174e-03 -5.11445625e-05 9.99986752e-01 -3.45893953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.40, Y:-15.45, Z:-3.46 [[ 9.73393641e-01 2.29087198e-01 4.88624888e-03 1.40399820e+02] [-2.29084602e-01 9.73405903e-01 -1.09204114e-03 -1.54478016e+01] [-5.00647615e-03 -5.63784756e-05 9.99987466e-01 -3.46011577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:-15.45, Z:-3.46 [[ 9.73294686e-01 2.29491448e-01 5.57933404e-03 1.40430703e+02] [-2.29488048e-01 9.73310676e-01 -1.25080823e-03 -1.54535410e+01] [-5.71747517e-03 -6.29854760e-05 9.99983653e-01 -3.46086899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:-15.46, Z:-3.46 [[ 9.73282224e-01 2.29539979e-01 5.75418040e-03 1.40461837e+02] [-2.29536362e-01 9.73299231e-01 -1.29016748e-03 -1.54599286e+01] [-5.89668438e-03 -6.50965601e-05 9.99982612e-01 -3.46182012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:-15.47, Z:-3.46 [[ 9.73236927e-01 2.29743123e-01 5.28981265e-03 1.40491950e+02] [-2.29740068e-01 9.73251300e-01 -1.18635979e-03 -1.54661543e+01] [-5.42087504e-03 -6.06727585e-05 9.99985305e-01 -3.46273513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.52, Y:-15.47, Z:-3.46 [[ 9.73054426e-01 2.30531921e-01 4.48514433e-03 1.40521644e+02] [-2.30529733e-01 9.73064762e-01 -1.00591077e-03 -1.54732014e+01] [-4.59623044e-03 -5.51532046e-05 9.99989436e-01 -3.46435773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:-15.48, Z:-3.47 [[ 9.72945868e-01 2.30984666e-01 4.73531469e-03 1.40550915e+02] [-2.30982230e-01 9.72957389e-01 -1.06231737e-03 -1.54801507e+01] [-4.85263844e-03 -6.01962541e-05 9.99988224e-01 -3.46559509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.58, Y:-15.49, Z:-3.47 [[ 9.72873264e-01 2.31297403e-01 4.37314407e-03 1.40581822e+02] [-2.31295331e-01 9.72883091e-01 -9.80606174e-04 -1.54877426e+01] [-4.48136958e-03 -5.74822782e-05 9.99989957e-01 -3.46621612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:-15.49, Z:-3.47 [[ 9.72822595e-01 2.31526847e-01 3.39385930e-03 1.40611840e+02] [-2.31525603e-01 9.72828514e-01 -7.60329022e-04 -1.54941257e+01] [-3.47767968e-03 -4.61000679e-05 9.99993952e-01 -3.46718953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:-15.50, Z:-3.47 [[ 9.72849732e-01 2.31417780e-01 3.03480014e-03 1.40642393e+02] [-2.31416781e-01 9.72854465e-01 -6.81076857e-04 -1.54993505e+01] [-3.11003216e-03 -3.97182420e-05 9.99995163e-01 -3.46812973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:-15.50, Z:-3.47 [[ 9.72892635e-01 2.31238095e-01 2.97715199e-03 1.40671104e+02] [-2.31237134e-01 9.72897190e-01 -6.67864464e-04 -1.55048430e+01] [-3.05089851e-03 -3.86676749e-05 9.99995345e-01 -3.46926096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:-15.51, Z:-3.47 [[ 9.73299594e-01 2.29518287e-01 3.04247744e-03 1.40701314e+02] [-2.29517275e-01 9.73304348e-01 -6.82338490e-04 -1.55145147e+01] [-3.11786568e-03 -3.41813576e-05 9.99995139e-01 -3.46866648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:-15.52, Z:-3.47 [[ 9.73551917e-01 2.28423029e-01 4.42542934e-03 1.40730897e+02] [-2.28420874e-01 9.73561974e-01 -9.93105853e-04 -1.55224994e+01] [-4.53527797e-03 -4.40203298e-05 9.99989715e-01 -3.46856265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:-15.53, Z:-3.47 [[ 9.73910487e-01 2.26873383e-01 5.17990359e-03 1.40761898e+02] [-2.26870410e-01 9.73924261e-01 -1.16230582e-03 -1.55279046e+01] [-5.30853003e-03 -4.31850242e-05 9.99985909e-01 -3.46879318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:-15.53, Z:-3.47 [[ 9.74015190e-01 2.26435376e-01 4.62918250e-03 1.40793451e+02] [-2.26433010e-01 9.74026190e-01 -1.03595203e-03 -1.55344198e+01] [-4.74352118e-03 -3.91667147e-05 9.99988749e-01 -3.47002640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.82, Y:-15.54, Z:-3.47 [[ 9.74097627e-01 2.26089075e-01 4.18848227e-03 1.40823605e+02] [-2.26087127e-01 9.74106631e-01 -9.39147665e-04 -1.55413165e+01] [-4.29235938e-03 -3.21404111e-05 9.99990787e-01 -3.47133145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.85, Y:-15.55, Z:-3.47 [[ 9.74249952e-01 2.25419939e-01 4.78357717e-03 1.40853440e+02] [-2.25417386e-01 9.74261695e-01 -1.07345090e-03 -1.55523502e+01] [-4.90243324e-03 -3.24919743e-05 9.99987982e-01 -3.47170816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:-15.56, Z:-3.47 [[ 9.74227938e-01 2.25513664e-01 4.84894173e-03 1.40884906e+02] [-2.25511048e-01 9.74240004e-01 -1.08669829e-03 -1.55616018e+01] [-4.96909833e-03 -3.47980940e-05 9.99987653e-01 -3.47215499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.92, Y:-15.57, Z:-3.47 [[ 9.74080697e-01 2.26159285e-01 4.33285440e-03 1.40915579e+02] [-2.26157200e-01 9.74090333e-01 -9.71692448e-04 -1.55690873e+01] [-4.44034885e-03 -3.33993605e-05 9.99990141e-01 -3.47260199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:-15.58, Z:-3.47 [[ 9.73774996e-01 2.27486260e-01 3.50122676e-03 1.40946285e+02] [-2.27484905e-01 9.73781290e-01 -7.85571835e-04 -1.55750480e+01] [-3.58813591e-03 -3.15060277e-05 9.99993562e-01 -3.47287469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:-15.58, Z:-3.47 [[ 9.72909300e-01 2.31157439e-01 3.70574992e-03 1.40977044e+02] [-2.31155934e-01 9.72916356e-01 -8.35454097e-04 -1.55784573e+01] [-3.79850614e-03 -4.37850228e-05 9.99992785e-01 -3.47392602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:-15.58, Z:-3.47 [[ 9.72433267e-01 2.33140662e-01 4.35570228e-03 1.41007175e+02] [-2.33138601e-01 9.72443021e-01 -9.81984589e-04 -1.55843810e+01] [-4.46461282e-03 -6.05678549e-05 9.99990032e-01 -3.47469674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:-15.59, Z:-3.48 [[ 9.71730406e-01 2.36047008e-01 4.67206541e-03 1.41036489e+02] [-2.36044669e-01 9.71741634e-01 -1.05375873e-03 -1.55902381e+01] [-4.78877707e-03 -7.88467312e-05 9.99988531e-01 -3.47569049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.07, Y:-15.60, Z:-3.48 [[ 9.71481540e-01 2.37064160e-01 4.91957596e-03 1.41065209e+02] [-2.37061582e-01 9.71493992e-01 -1.10920778e-03 -1.55968756e+01] [-5.04229190e-03 -8.86675761e-05 9.99987284e-01 -3.47704338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.09, Y:-15.60, Z:-3.48 [[ 9.71388989e-01 2.37438614e-01 5.13199079e-03 1.41094980e+02] [-2.37435815e-01 9.71402540e-01 -1.15680738e-03 -1.56041602e+01] [-5.25989963e-03 -9.48084620e-05 9.99986162e-01 -3.47756298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.12, Y:-15.61, Z:-3.48 [[ 9.71354044e-01 2.37546517e-01 6.55535821e-03 1.41123818e+02] [-2.37541951e-01 9.71376157e-01 -1.47785165e-03 -1.56094598e+01] [-6.71877718e-03 -1.21655401e-04 9.99977421e-01 -3.47712228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:-15.61, Z:-3.48 [[ 9.71413016e-01 2.37287002e-01 7.18542920e-03 1.41154907e+02] [-2.37281512e-01 9.71439582e-01 -1.61958645e-03 -1.56125230e+01] [-7.36451716e-03 -1.31682148e-04 9.99972873e-01 -3.47738315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:-15.62, Z:-3.48 [[ 9.71469573e-01 2.37033738e-01 7.86613250e-03 1.41186617e+02] [-2.37027153e-01 9.71501408e-01 -1.77263378e-03 -1.56159084e+01] [-8.06213282e-03 -1.42427212e-04 9.99967490e-01 -3.47866652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:-15.62, Z:-3.48 [[ 9.71565158e-01 2.36644743e-01 7.77237401e-03 1.41216956e+02] [-2.36638300e-01 9.71596236e-01 -1.75169527e-03 -1.56223579e+01] [-7.96613881e-03 -1.37355277e-04 9.99968260e-01 -3.47910842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:-15.63, Z:-3.48 [[ 9.71611762e-01 2.36472281e-01 7.17247161e-03 1.41246130e+02] [-2.36466787e-01 9.71638227e-01 -1.61683210e-03 -1.56300439e+01] [-7.35138358e-03 -1.25118235e-04 9.99972970e-01 -3.47957224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.27, Y:-15.64, Z:-3.48 [[ 9.71702793e-01 2.36108354e-01 6.82111613e-03 1.41273935e+02] [-2.36103369e-01 9.71726727e-01 -1.53866438e-03 -1.56355515e+01] [-6.99155236e-03 -1.15364028e-04 9.99975552e-01 -3.48031346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:-15.64, Z:-3.48 [[ 9.71764811e-01 2.35845260e-01 7.08275019e-03 1.41304492e+02] [-2.35839886e-01 9.71790615e-01 -1.59655827e-03 -1.56385090e+01] [-7.25949087e-03 -1.18915854e-04 9.99973642e-01 -3.48116591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:-15.65, Z:-3.48 [[ 9.71883741e-01 2.35255061e-01 9.85144037e-03 1.41332680e+02] [-2.35303044e-01 9.71913752e-01 4.01707309e-03 -1.56457250e+01] [-8.62971360e-03 -6.22220193e-03 9.99943405e-01 -3.48202993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.36, Y:-15.64, Z:-3.48 [[ 9.72313243e-01 2.33633038e-01 4.74990212e-03 1.41363495e+02] [-2.33595167e-01 9.72305865e-01 -7.38935676e-03 -1.56412800e+01] [-6.34475556e-03 6.07521525e-03 9.99961417e-01 -3.48447877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.39, Y:-15.65, Z:-3.48 [[ 9.72766575e-01 2.31720226e-01 5.56120675e-03 1.41391883e+02] [-2.31716841e-01 9.72782469e-01 -1.25447257e-03 -1.56511886e+01] [-5.70053111e-03 -6.83162746e-05 9.99983750e-01 -3.48469772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.42, Y:-15.66, Z:-3.49 [[ 9.72769335e-01 2.31708637e-01 5.56128289e-03 1.41421312e+02] [-2.31705253e-01 9.72785229e-01 -1.25413493e-03 -1.56577843e+01] [-5.70052774e-03 -6.85944603e-05 9.99983750e-01 -3.48540344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.45, Y:-15.66, Z:-3.49 [[ 9.73310898e-01 2.29423141e-01 5.56045403e-03 1.41450299e+02] [-2.29419720e-01 9.73326779e-01 -1.25409657e-03 -1.56646865e+01] [-5.69985759e-03 -5.50519502e-05 9.99983754e-01 -3.48636442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.48, Y:-15.67, Z:-3.49 [[ 9.73860613e-01 2.27078254e-01 5.56532335e-03 1.41478708e+02] [-2.27074788e-01 9.73876514e-01 -1.25526953e-03 -1.56711373e+01] [-5.70498212e-03 -4.12870616e-05 9.99983726e-01 -3.48626833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.51, Y:-15.68, Z:-3.49 [[ 9.74843998e-01 2.22816665e-01 5.64913096e-03 1.41506687e+02] [-2.22813025e-01 9.74860366e-01 -1.27377139e-03 -1.56760493e+01] [-5.79093137e-03 -1.69715656e-05 9.99983232e-01 -3.48734278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.54, Y:-15.68, Z:-3.49 [[ 9.75304746e-01 2.20789746e-01 5.70439884e-03 1.41536450e+02] [-2.20786003e-01 9.75321428e-01 -1.28560210e-03 -1.56820054e+01] [-5.84747018e-03 -5.59759166e-06 9.99982903e-01 -3.48792524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:-15.69, Z:-3.49 [[ 9.75999530e-01 2.17671942e-01 6.62136890e-03 1.41566872e+02] [-2.17666830e-01 9.76021990e-01 -1.49183917e-03 -1.56879081e+01] [-6.78733318e-03 1.47819516e-05 9.99976966e-01 -3.48846516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:-15.69, Z:-3.49 [[ 9.76285466e-01 2.16357433e-01 7.49339003e-03 1.41595943e+02] [-2.16350844e-01 9.76314222e-01 -1.68878408e-03 -1.56948603e+01] [-7.68128425e-03 2.75340922e-05 9.99970498e-01 -3.48906405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.63, Y:-15.70, Z:-3.49 [[ 9.76437930e-01 2.15642307e-01 8.20759807e-03 1.41626256e+02] [-2.15634377e-01 9.76472424e-01 -1.84968906e-03 -1.57021552e+01] [-8.41336440e-03 3.62662612e-05 9.99964606e-01 -3.48935770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.66, Y:-15.71, Z:-3.49 [[ 9.76283914e-01 2.16348011e-01 7.95347285e-03 1.41657324e+02] [-2.16340586e-01 9.76316310e-01 -1.79260593e-03 -1.57089862e+01] [-8.15293199e-03 2.94333585e-05 9.99966764e-01 -3.49012622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.69, Y:-15.72, Z:-3.49 [[ 9.75911031e-01 2.18044630e-01 7.36200839e-03 1.41687909e+02] [-2.18038316e-01 9.75938799e-01 -1.65944514e-03 -1.57153910e+01] [-7.54670272e-03 1.42709081e-05 9.99971523e-01 -3.49105597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.72, Y:-15.72, Z:-3.49 [[ 9.75387421e-01 2.20387374e-01 6.98454262e-03 1.41717221e+02] [-2.20381746e-01 9.75412428e-01 -1.57512851e-03 -1.57212888e+01] [-7.15994811e-03 -2.90516411e-06 9.99974367e-01 -3.49211133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:-15.73, Z:-3.49 [[ 9.74081014e-01 2.26106567e-01 6.48056551e-03 1.41746124e+02] [-2.26101846e-01 9.74102571e-01 -1.46162142e-03 -1.57266596e+01] [-6.64321772e-03 -4.15301485e-05 9.99977933e-01 -3.49342140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.77, Y:-15.73, Z:-3.50 [[ 9.72614285e-01 2.32343175e-01 6.17261742e-03 1.41774761e+02] [-2.32339016e-01 9.72633869e-01 -1.39246010e-03 -1.57294782e+01] [-6.32722537e-03 -7.98132714e-05 9.99979980e-01 -3.49521298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:-15.73, Z:-3.49 [[ 9.71934852e-01 2.35160227e-01 6.50464362e-03 1.41802545e+02] [-2.35155673e-01 9.71956613e-01 -1.46716401e-03 -1.57335732e+01] [-6.66725000e-03 -1.03616012e-04 9.99977768e-01 -3.49492972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.83, Y:-15.74, Z:-3.50 [[ 9.71304019e-01 2.37725979e-01 7.40692346e-03 1.41830940e+02] [-2.37720155e-01 9.71332250e-01 -1.66980297e-03 -1.57376832e+01] [-7.59153918e-03 -1.38888656e-04 9.99971174e-01 -3.49550047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.86, Y:-15.74, Z:-3.50 [[ 9.70319472e-01 2.41705088e-01 7.66636995e-03 1.41858818e+02] [-2.41698975e-01 9.70349741e-01 -1.72805100e-03 -1.57410066e+01] [-7.85673881e-03 -1.76192227e-04 9.99969120e-01 -3.49602230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.89, Y:-15.75, Z:-3.50 [[ 9.70017967e-01 2.42924713e-01 7.26131405e-03 1.41885773e+02] [-2.42919266e-01 9.70045129e-01 -1.63635114e-03 -1.57459405e+01] [-7.44131246e-03 -1.76623073e-04 9.99972297e-01 -3.49673392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:-15.75, Z:-3.50 [[ 9.69809111e-01 2.43755156e-01 7.32882518e-03 1.41914484e+02] [-2.43749635e-01 9.69836785e-01 -1.65092404e-03 -1.57509657e+01] [-7.51018549e-03 -1.85317287e-04 9.99971781e-01 -3.49778445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:-15.76, Z:-3.50 [[ 9.69712802e-01 2.44124820e-01 7.75589697e-03 1.41943036e+02] [-2.44118653e-01 9.69743797e-01 -1.74670831e-03 -1.57551523e+01] [-7.94764783e-03 -1.99553705e-04 9.99968397e-01 -3.49848279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:-15.76, Z:-3.50 [[ 9.69704815e-01 2.44154112e-01 7.83201646e-03 1.41970602e+02] [-2.44147826e-01 9.69736422e-01 -1.76362641e-03 -1.57584629e+01] [-8.02558826e-03 -2.01972771e-04 9.99967774e-01 -3.49920743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:-15.76, Z:-3.50 [[ 9.69891231e-01 2.43439751e-01 6.93448087e-03 1.42000110e+02] [-2.43434808e-01 9.69916005e-01 -1.56104742e-03 -1.57593534e+01] [-7.10588498e-03 -1.74047816e-04 9.99974738e-01 -3.50073696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:-15.76, Z:-3.50 [[ 9.70182732e-01 2.42291532e-01 6.34668049e-03 1.42028098e+02] [-2.42287367e-01 9.70203479e-01 -1.42870406e-03 -1.57634361e+01] [-6.50373438e-03 -1.51616495e-04 9.99978839e-01 -3.50184599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:-15.77, Z:-3.50 [[ 9.70614349e-01 2.40565218e-01 6.01345684e-03 1.42056994e+02] [-2.40561449e-01 9.70632968e-01 -1.35316669e-03 -1.57682017e+01] [-6.16238430e-03 -1.33202885e-04 9.99981003e-01 -3.50259397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.09, Y:-15.77, Z:-3.50 [[ 9.71734461e-01 2.35973123e-01 6.98736780e-03 1.42085665e+02] [-2.35967919e-01 9.71759574e-01 -1.57178866e-03 -1.57706044e+01] [-7.16094144e-03 -1.21433430e-04 9.99974353e-01 -3.50492036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:-15.78, Z:-3.50 [[ 9.72456868e-01 2.32963827e-01 7.44950389e-03 1.42113060e+02] [-2.32957826e-01 9.72485395e-01 -1.67548306e-03 -1.57753563e+01] [-7.63486068e-03 -1.06085228e-04 9.99970848e-01 -3.50398887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:-15.78, Z:-3.50 [[ 9.73911990e-01 2.26767574e-01 8.47952802e-03 1.42141490e+02] [-2.26759572e-01 9.73948902e-01 -1.90620479e-03 -1.57782149e+01] [-8.69089244e-03 -6.63384392e-05 9.99962231e-01 -3.50445319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:-15.78, Z:-3.51 [[ 9.74546418e-01 2.24010021e-01 8.87637578e-03 1.42169890e+02] [-2.24001142e-01 9.74586840e-01 -1.99493384e-03 -1.57831101e+01] [-9.09768419e-03 -4.41626804e-05 9.99958614e-01 -3.50545220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:-15.79, Z:-3.51 [[ 9.75153381e-01 2.21342975e-01 9.11981233e-03 1.42197368e+02] [-2.21333489e-01 9.75196025e-01 -2.04932817e-03 -1.57887623e+01] [-9.34720912e-03 -2.01105837e-05 9.99956314e-01 -3.50603635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:142.23, Y:-15.79, Z:-3.51 [[ 9.76155379e-01 2.16900691e-01 8.64678218e-03 1.42225975e+02] [-2.16891998e-01 9.76193674e-01 -1.94206992e-03 -1.57949513e+01] [-8.86217037e-03 2.03441351e-05 9.99960730e-01 -3.50771538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:-15.80, Z:-3.51 [[ 9.76535614e-01 2.15186226e-01 8.54881008e-03 1.42253874e+02] [-2.15177663e-01 9.76573032e-01 -1.92003305e-03 -1.58014670e+01] [-8.76170205e-03 3.54676794e-05 9.99961615e-01 -3.50758925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:-15.81, Z:-3.51 [[ 9.76843405e-01 2.13783788e-01 8.57051781e-03 1.42282227e+02] [-2.13775129e-01 9.76881001e-01 -1.92471996e-03 -1.58079673e+01] [-8.78384993e-03 4.79864473e-05 9.99961420e-01 -3.50806092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.31, Y:-15.81, Z:-3.51 [[ 9.77147699e-01 2.12418156e-01 7.80386511e-03 1.42309764e+02] [-2.12410934e-01 9.77178860e-01 -1.75243989e-03 -1.58144311e+01] [-7.99802206e-03 5.47663282e-05 9.99968014e-01 -3.50871369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.34, Y:-15.82, Z:-3.51 [[ 9.77197243e-01 2.12218066e-01 7.00286267e-03 1.42338069e+02] [-2.12212249e-01 9.77222334e-01 -1.57206536e-03 -1.58192534e+01] [-7.17697448e-03 5.01247016e-05 9.99974244e-01 -3.50970525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:-15.82, Z:-3.51 [[ 9.77132319e-01 2.12530834e-01 6.56318448e-03 1.42365853e+02] [-2.12525732e-01 9.77154360e-01 -1.47330214e-03 -1.58241794e+01] [-6.72636646e-03 4.47655479e-05 9.99977377e-01 -3.51112153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:-15.83, Z:-3.51 [[ 9.77044245e-01 2.12936005e-01 6.54232436e-03 1.42394362e+02] [-2.12930948e-01 9.77066147e-01 -1.46803509e-03 -1.58301765e+01] [-6.70488118e-03 4.12719101e-05 9.99977521e-01 -3.51246054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.42, Y:-15.84, Z:-3.51 [[ 9.76763834e-01 2.14195836e-01 7.24952850e-03 1.42421634e+02] [-2.14189665e-01 9.76790736e-01 -1.62641308e-03 -1.58364302e+01] [-7.42964319e-03 3.58474006e-05 9.99972399e-01 -3.51328960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:-15.84, Z:-3.51 [[ 9.76708482e-01 2.14450418e-01 7.18053232e-03 1.42450079e+02] [-2.14444375e-01 9.76734876e-01 -1.61022262e-03 -1.58425768e+01] [-7.35878925e-03 3.28933231e-05 9.99972923e-01 -3.51348320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:-15.85, Z:-3.51 [[ 9.76888928e-01 2.13637312e-01 6.86449598e-03 1.42478852e+02] [-2.13631771e-01 9.76913045e-01 -1.53910548e-03 -1.58480003e+01] [-7.03482603e-03 3.70606678e-05 9.99975255e-01 -3.51467012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:-15.85, Z:-3.52 [[ 9.77020161e-01 2.13039901e-01 6.75318851e-03 1.42506303e+02] [-2.13034525e-01 9.77043499e-01 -1.51402293e-03 -1.58537079e+01] [-6.92070623e-03 4.05686169e-05 9.99976051e-01 -3.51588955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:142.53, Y:-15.86, Z:-3.52 [[ 9.77163154e-01 2.12392105e-01 6.46253678e-03 1.42534620e+02] [-2.12387171e-01 9.77184523e-01 -1.44829340e-03 -1.58595740e+01] [-6.62269700e-03 4.26590466e-05 9.99978069e-01 -3.51805796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:-15.87, Z:-3.52 [[ 9.77394985e-01 2.11352298e-01 5.40821326e-03 1.42563361e+02] [-2.11348828e-01 9.77409947e-01 -1.21192940e-03 -1.58654778e+01] [-5.54218550e-03 4.15141889e-05 9.99984641e-01 -3.51800144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:-15.87, Z:-3.52 [[ 9.77369314e-01 2.11478072e-01 5.12334063e-03 1.42591783e+02] [-2.11474960e-01 9.77382742e-01 -1.14788891e-03 -1.58716608e+01] [-5.25021804e-03 3.84531422e-05 9.99986217e-01 -3.51885818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:-15.88, Z:-3.52 [[ 9.77131315e-01 2.12574738e-01 5.13555117e-03 1.42618912e+02] [-2.12571626e-01 9.77144810e-01 -1.15058159e-03 -1.58801196e+01] [-5.26276175e-03 3.25968393e-05 9.99986151e-01 -3.51898322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:-15.89, Z:-3.52 [[ 9.76873437e-01 2.13757057e-01 5.11936800e-03 1.42645783e+02] [-2.13753983e-01 9.76886851e-01 -1.14661919e-03 -1.58873167e+01] [-5.24614123e-03 2.58165251e-05 9.99986239e-01 -3.51948782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-15.89, Z:-3.52 [[ 9.76566512e-01 2.15151221e-01 5.27250373e-03 1.42673619e+02] [-2.15147984e-01 9.76580745e-01 -1.18034822e-03 -1.58943222e+01] [-5.40297898e-03 1.83199910e-05 9.99985404e-01 -3.51974758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:-15.90, Z:-3.52 [[ 9.75935060e-01 2.17966910e-01 6.41758428e-03 1.42701285e+02] [-2.17962179e-01 9.75956160e-01 -1.43610142e-03 -1.59022504e+01] [-6.57630350e-03 2.75107329e-06 9.99978376e-01 -3.52083585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:-15.91, Z:-3.52 [[ 9.75624542e-01 2.19336935e-01 6.93273313e-03 1.42728135e+02] [-2.19331450e-01 9.75649173e-01 -1.55112702e-03 -1.59092654e+01] [-7.10413479e-03 -7.24882124e-06 9.99974765e-01 -3.52150300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:-15.92, Z:-3.52 [[ 9.75327481e-01 2.20653836e-01 6.94184233e-03 1.42756445e+02] [-2.20648375e-01 9.75352185e-01 -1.55249087e-03 -1.59163718e+01] [-7.11330415e-03 -1.75192239e-05 9.99974700e-01 -3.52236739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:-15.92, Z:-3.52 [[ 9.75071504e-01 2.21801348e-01 6.30275860e-03 1.42784612e+02] [-2.21796872e-01 9.75091873e-01 -1.40938375e-03 -1.59231248e+01] [-6.45837191e-03 -2.36822037e-05 9.99979144e-01 -3.52323026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:-15.93, Z:-3.52 [[ 9.74413677e-01 2.24709864e-01 4.84388898e-03 1.42811513e+02] [-2.24707254e-01 9.74425716e-01 -1.08350138e-03 -1.59298114e+01] [-4.96348344e-03 -3.26784320e-05 9.99987681e-01 -3.52477060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:-15.94, Z:-3.53 [[ 9.73951079e-01 2.26711202e-01 4.61810576e-03 1.42838399e+02] [-2.26708854e-01 9.73962027e-01 -1.03264024e-03 -1.59364163e+01] [-4.73197076e-03 -4.12243907e-05 9.99988803e-01 -3.52577250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:-15.94, Z:-3.53 [[ 9.73504304e-01 2.28629879e-01 4.21295747e-03 1.42865359e+02] [-2.28627942e-01 9.73513419e-01 -9.42111966e-04 -1.59426651e+01] [-4.31676558e-03 -4.60497443e-05 9.99990682e-01 -3.52625097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:-15.95, Z:-3.53 [[ 9.72469469e-01 2.32980437e-01 4.82163711e-03 1.42892196e+02] [-2.32977954e-01 9.72481419e-01 -1.07820806e-03 -1.59471989e+01] [-4.94015388e-03 -7.48107287e-05 9.99987795e-01 -3.52748353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:-15.95, Z:-3.53 [[ 9.71921093e-01 2.35260573e-01 4.67456035e-03 1.42919723e+02] [-2.35258270e-01 9.71932331e-01 -1.04432823e-03 -1.59521366e+01] [-4.78904559e-03 -8.47243497e-05 9.99988529e-01 -3.52812504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-15.95, Z:-3.53 [[ 9.70874931e-01 2.39557832e-01 3.73008259e-03 1.42946573e+02] [-2.39556396e-01 9.70882093e-01 -8.33630281e-04 -1.59545690e+01] [-3.82117305e-03 -8.42144018e-05 9.99992696e-01 -3.52920823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:-15.96, Z:-3.53 [[ 9.70486972e-01 2.41129274e-01 3.42205328e-03 1.42974694e+02] [-2.41128077e-01 9.70493002e-01 -7.64392612e-04 -1.59578695e+01] [-3.50539619e-03 -8.33200560e-05 9.99993853e-01 -3.52973992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:143.00, Y:-15.96, Z:-3.53 [[ 9.70142753e-01 2.42518556e-01 2.79091288e-03 1.43003036e+02] [-2.42517765e-01 9.70146765e-01 -6.23527645e-04 -1.59590937e+01] [-2.85881212e-03 -7.19351268e-05 9.99995911e-01 -3.53197382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.03, Y:-15.96, Z:-3.53 [[ 9.70388604e-01 2.41536797e-01 2.43562442e-03 1.43029026e+02] [-2.41536191e-01 9.70391659e-01 -5.44437357e-04 -1.59643657e+01] [-2.49501127e-03 -5.99756376e-05 9.99996886e-01 -3.53242954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:-15.97, Z:-3.53 [[ 9.70900901e-01 2.39471583e-01 2.19110958e-03 1.43056391e+02] [-2.39471088e-01 9.70903372e-01 -4.89494393e-04 -1.59702298e+01] [-2.24457568e-03 -4.94568476e-05 9.99997480e-01 -3.53329147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:-15.98, Z:-3.53 [[ 9.71692635e-01 2.36231068e-01 2.88192338e-03 1.43084237e+02] [-2.36230199e-01 9.71696907e-01 -6.43114496e-04 -1.59759229e+01] [-2.95227966e-03 -5.58877145e-05 9.99995640e-01 -3.53324951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:-15.98, Z:-3.53 [[ 9.73858122e-01 2.27078981e-01 5.95776945e-03 1.43112310e+02] [-2.27075114e-01 9.73876344e-01 -1.32655179e-03 -1.59808058e+01] [-6.10336276e-03 -6.09879444e-05 9.99981372e-01 -3.53320831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:-15.99, Z:-3.53 [[ 9.75012323e-01 2.22059781e-01 6.35803323e-03 1.43139132e+02] [-2.22055269e-01 9.75033052e-01 -1.41579762e-03 -1.59877623e+01] [-6.51368425e-03 -3.14146565e-05 9.99978785e-01 -3.53384968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:-15.99, Z:-3.53 [[ 9.75037087e-01 2.21951023e-01 6.35794537e-03 1.43166977e+02] [-2.21946507e-01 9.75057815e-01 -1.41619307e-03 -1.59937917e+01] [-6.51368982e-03 -3.02829939e-05 9.99978785e-01 -3.53451631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-16.00, Z:-3.53 [[ 9.76160717e-01 2.16964290e-01 6.06222626e-03 1.43194343e+02] [-2.16960097e-01 9.76179541e-01 -1.34901618e-03 -1.60014002e+01] [-6.21050959e-03 1.59541087e-06 9.99980715e-01 -3.53478738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:-16.01, Z:-3.54 [[ 9.77124410e-01 2.12576333e-01 6.26020119e-03 1.43222366e+02] [-2.12571776e-01 9.77144463e-01 -1.39214941e-03 -1.60086657e+01] [-6.41305895e-03 2.95610827e-05 9.99979436e-01 -3.53554087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:-16.02, Z:-3.54 [[ 9.78433575e-01 2.06446467e-01 6.89891868e-03 1.43250321e+02] [-2.06440783e-01 9.78457894e-01 -1.53378135e-03 -1.60176380e+01] [-7.06694518e-03 7.64849922e-05 9.99975026e-01 -3.53623344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:-16.03, Z:-3.54 [[ 9.78764602e-01 2.04877137e-01 6.72406853e-03 1.43278203e+02] [-2.04871706e-01 9.78787695e-01 -1.49415693e-03 -1.60263978e+01] [-6.88755413e-03 8.48565217e-05 9.99976277e-01 -3.53671826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.31, Y:-16.04, Z:-3.54 [[ 9.78780832e-01 2.04855305e-01 4.73152263e-03 1.43306893e+02] [-2.04852616e-01 9.78792266e-01 -1.05143656e-03 -1.60360272e+01] [-4.84657012e-03 5.98611662e-05 9.99988254e-01 -3.53749180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:-16.04, Z:-3.54 [[ 9.78443102e-01 2.06469616e-01 4.40393130e-03 1.43335485e+02] [-2.06467301e-01 9.78453011e-01 -9.79039797e-04 -1.60422200e+01] [-4.51118181e-03 4.86669286e-05 9.99989823e-01 -3.53859488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:-16.05, Z:-3.54 [[ 9.77945193e-01 2.08810725e-01 4.61319307e-03 1.43362657e+02] [-2.08808210e-01 9.77956072e-01 -1.02549587e-03 -1.60481345e+01] [-4.72563471e-03 3.96061701e-05 9.99988833e-01 -3.53959058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:-16.06, Z:-3.54 [[ 9.76610998e-01 2.14974250e-01 4.12680056e-03 1.43390442e+02] [-2.14972294e-01 9.76619717e-01 -9.17015555e-04 -1.60558696e+01] [-4.22744953e-03 8.41969364e-06 9.99991064e-01 -3.54016086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:-16.06, Z:-3.54 [[ 9.75781227e-01 2.18708996e-01 4.16797760e-03 1.43418053e+02] [-2.18707036e-01 9.75790129e-01 -9.25941142e-04 -1.60622366e+01] [-4.26958305e-03 -8.05004172e-06 9.99990885e-01 -3.54051010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.45, Y:-16.07, Z:-3.54 [[ 9.74876018e-01 2.22702340e-01 4.51865713e-03 1.43446047e+02] [-2.22700079e-01 9.74886489e-01 -1.00397728e-03 -1.60672521e+01] [-4.62876587e-03 -2.75519250e-05 9.99989287e-01 -3.54150747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.47, Y:-16.07, Z:-3.54 [[ 9.73364954e-01 2.29222443e-01 4.21170867e-03 1.43473604e+02] [-2.29220540e-01 9.73374064e-01 -9.35595350e-04 -1.60723303e+01] [-4.31402743e-03 -5.47344115e-05 9.99990693e-01 -3.54150965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.50, Y:-16.08, Z:-3.54 [[ 9.72665505e-01 2.32177457e-01 3.92990434e-03 1.43501008e+02] [-2.32175826e-01 9.72673442e-01 -8.72558927e-04 -1.60786471e+01] [-4.02510210e-03 -6.37208187e-05 9.99991897e-01 -3.54214405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:-16.08, Z:-3.54 [[ 9.72007295e-01 2.34915067e-01 4.09016013e-03 1.43527647e+02] [-2.34913323e-01 9.72015898e-01 -9.08674943e-04 -1.60842077e+01] [-4.18916210e-03 -7.75944324e-05 9.99991222e-01 -3.54238715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:-16.09, Z:-3.54 [[ 9.70783611e-01 2.39898859e-01 5.26477835e-03 1.43555833e+02] [-2.39896051e-01 9.70797879e-01 -1.16774552e-03 -1.60879734e+01] [-5.39117647e-03 -1.29371323e-04 9.99985459e-01 -3.54298683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:-16.09, Z:-3.54 [[ 9.70242888e-01 2.42068449e-01 5.62179207e-03 1.43583537e+02] [-2.42065288e-01 9.70259163e-01 -1.24638862e-03 -1.60931964e+01] [-5.75630662e-03 -1.51541023e-04 9.99983421e-01 -3.54315646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:-16.10, Z:-3.54 [[ 9.69457714e-01 2.45193790e-01 5.63444291e-03 1.43610425e+02] [-2.45190668e-01 9.69474072e-01 -1.24896246e-03 -1.60955569e+01] [-5.76868415e-03 -1.70696529e-04 9.99983346e-01 -3.54307563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.64, Y:-16.10, Z:-3.55 [[ 9.69183491e-01 2.46289280e-01 4.99516298e-03 1.43638290e+02] [-2.46286843e-01 9.69196350e-01 -1.10678586e-03 -1.60981019e+01] [-5.11388323e-03 -1.57564342e-04 9.99986912e-01 -3.54541112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:-16.10, Z:-3.55 [[ 9.69175058e-01 2.46332604e-01 4.46712032e-03 1.43665381e+02] [-2.46330656e-01 9.69185343e-01 -9.89853255e-04 -1.61011350e+01] [-4.57330067e-03 -1.41047592e-04 9.99989532e-01 -3.54612723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:-16.11, Z:-3.55 [[ 9.69345379e-01 2.45666668e-01 4.17433184e-03 1.43692455e+02] [-2.45664962e-01 9.69354358e-01 -9.24523636e-04 -1.61064285e+01] [-4.27353141e-03 -1.29304360e-04 9.99990860e-01 -3.54713790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.72, Y:-16.11, Z:-3.55 [[ 9.70185723e-01 2.42308211e-01 5.13753360e-03 1.43719908e+02] [-2.42305584e-01 9.70199315e-01 -1.13710853e-03 -1.61121236e+01] [-5.25996231e-03 -1.41646624e-04 9.99986156e-01 -3.54786143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:-16.12, Z:-3.55 [[ 9.70731840e-01 2.40104366e-01 5.43956814e-03 1.43746940e+02] [-2.40101388e-01 9.70747070e-01 -1.20365208e-03 -1.61167956e+01] [-5.56944695e-03 -1.37624465e-04 9.99984481e-01 -3.54849208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.77, Y:-16.12, Z:-3.55 [[ 9.71341082e-01 2.37622372e-01 5.66662780e-03 1.43774222e+02] [-2.37619103e-01 9.71357602e-01 -1.25308621e-03 -1.61217799e+01] [-5.80208331e-03 -1.29324894e-04 9.99983159e-01 -3.54907031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:-16.13, Z:-3.55 [[ 9.72664865e-01 2.32141845e-01 5.76397485e-03 1.43801524e+02] [-2.32138369e-01 9.72681939e-01 -1.27414690e-03 -1.61257359e+01] [-5.90229705e-03 -9.87218049e-05 9.99982576e-01 -3.54964128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:-16.13, Z:-3.55 [[ 9.73317071e-01 2.29394578e-01 5.65754846e-03 1.43829715e+02] [-2.29391185e-01 9.73333510e-01 -1.25027863e-03 -1.61293217e+01] [-5.79348864e-03 -8.08742126e-05 9.99983214e-01 -3.55039189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:-16.13, Z:-3.55 [[ 9.74501397e-01 2.24310835e-01 5.62827982e-03 1.43857222e+02] [-2.24307395e-01 9.74517648e-01 -1.24323403e-03 -1.61334438e+01] [-5.76372887e-03 -5.09314840e-05 9.99983388e-01 -3.55194637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-16.14, Z:-3.55 [[ 9.75105215e-01 2.21701409e-01 4.27844155e-03 1.43884554e+02] [-2.21699396e-01 9.75114601e-01 -9.45256296e-04 -1.61409301e+01] [-4.38153548e-03 -2.68035620e-05 9.99990401e-01 -3.55221676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.91, Y:-16.15, Z:-3.55 [[ 9.75623353e-01 2.19426706e-01 3.31568526e-03 1.43911097e+02] [-2.19425481e-01 9.75628987e-01 -7.33339652e-04 -1.61478776e+01] [-3.39579295e-03 -1.20825411e-05 9.99994234e-01 -3.55259732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:-16.15, Z:-3.55 [[ 9.76481859e-01 2.15558199e-01 4.22393200e-03 1.43938355e+02] [-2.15556182e-01 9.76490995e-01 -9.32402187e-04 -1.61523082e+01] [-4.32561849e-03 -2.08359313e-08 9.99990644e-01 -3.55286743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:-16.16, Z:-3.55 [[ 9.76819977e-01 2.14009857e-01 4.74495072e-03 1.43965766e+02] [-2.14007296e-01 9.76831501e-01 -1.04690844e-03 -1.61571385e+01] [-4.85906606e-03 7.18699938e-06 9.99988195e-01 -3.55283729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.99, Y:-16.16, Z:-3.55 [[ 9.77039509e-01 2.12996778e-01 5.11566211e-03 1.43992235e+02] [-2.12993790e-01 9.77052901e-01 -1.12838915e-03 -1.61619879e+01] [-5.23861576e-03 1.28765233e-05 9.99986278e-01 -3.55311778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:-16.17, Z:-3.55 [[ 9.77397283e-01 2.11307923e-01 6.59643485e-03 1.44020258e+02] [-2.11302925e-01 9.77419542e-01 -1.45358808e-03 -1.61662490e+01] [-6.75463901e-03 2.68870620e-05 9.99977187e-01 -3.55316626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.05, Y:-16.17, Z:-3.55 [[ 9.77591919e-01 2.10378715e-01 7.40518750e-03 1.44048716e+02] [-2.10372398e-01 9.77619965e-01 -1.63068487e-03 -1.61725673e+01] [-7.58252053e-03 3.62972970e-05 9.99971252e-01 -3.55385556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:-16.18, Z:-3.55 [[ 9.77828998e-01 2.09263198e-01 7.70480118e-03 1.44075431e+02] [-2.09256327e-01 9.77859352e-01 -1.69648032e-03 -1.61795628e+01] [-7.88922278e-03 4.65892649e-05 9.99968879e-01 -3.55476539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.10, Y:-16.19, Z:-3.56 [[ 9.78066381e-01 2.08173121e-01 7.07861165e-03 1.44103697e+02] [-2.08167297e-01 9.78091994e-01 -1.55795760e-03 -1.61867931e+01] [-7.24785828e-03 5.02505030e-05 9.99973733e-01 -3.55591344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:-16.20, Z:-3.56 [[ 9.78427939e-01 2.06462951e-01 7.19846355e-03 1.44130668e+02] [-2.06456883e-01 9.78454417e-01 -1.58414215e-03 -1.61952705e+01] [-7.37043512e-03 6.37965889e-05 9.99972836e-01 -3.55632176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:-16.20, Z:-3.56 [[ 9.78461828e-01 2.06294534e-01 7.41729160e-03 1.44159004e+02] [-2.06288092e-01 9.78489939e-01 -1.63160972e-03 -1.62020093e+01] [-7.59433737e-03 6.63688972e-05 9.99971160e-01 -3.55698251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:-16.21, Z:-3.56 [[ 9.78102266e-01 2.07955515e-01 8.39414512e-03 1.44186485e+02] [-2.07947329e-01 9.78138283e-01 -1.84608369e-03 -1.62077739e+01] [-8.59453798e-03 6.01185836e-05 9.99963064e-01 -3.55735886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:-16.21, Z:-3.56 [[ 9.77719141e-01 2.09751697e-01 8.33704664e-03 1.44214748e+02] [-2.09743694e-01 9.77754685e-01 -1.83281686e-03 -1.62140907e+01] [-8.53602286e-03 4.33371665e-05 9.99963567e-01 -3.55813243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:-16.22, Z:-3.56 [[ 9.77172923e-01 2.12299709e-01 7.86844239e-03 1.44242378e+02] [-2.12292663e-01 9.77204602e-01 -1.72972175e-03 -1.62199183e+01] [-8.05629753e-03 1.98246639e-05 9.99967547e-01 -3.55871809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:-16.22, Z:-3.56 [[ 9.75970650e-01 2.17813164e-01 6.22216217e-03 1.44270812e+02] [-2.17808870e-01 9.75990484e-01 -1.36785697e-03 -1.62229086e+01] [-6.37070832e-03 -2.02538571e-05 9.99979707e-01 -3.56029860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:-16.23, Z:-3.56 [[ 9.75432038e-01 2.20233216e-01 5.44694035e-03 1.44298767e+02] [-2.20229964e-01 9.75447246e-01 -1.19723945e-03 -1.62276558e+01] [-5.57687485e-03 -3.17537610e-05 9.99984449e-01 -3.56135420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.32, Y:-16.23, Z:-3.56 [[ 9.75017293e-01 2.22060299e-01 5.52278422e-03 1.44324943e+02] [-2.22056986e-01 9.75032934e-01 -1.21367449e-03 -1.62330383e+01] [-5.65440542e-03 -4.30191993e-05 9.99984013e-01 -3.56231752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:-16.24, Z:-3.56 [[ 9.74758482e-01 2.23184270e-01 5.88924226e-03 1.44352244e+02] [-2.23180530e-01 9.74776271e-01 -1.29329025e-03 -1.62388028e+01] [-6.02933565e-03 -5.37185603e-05 9.99981822e-01 -3.56253946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.38, Y:-16.24, Z:-3.56 [[ 9.74611575e-01 2.23813765e-01 6.29889992e-03 1.44379879e+02] [-2.23809503e-01 9.74631928e-01 -1.38267275e-03 -1.62427802e+01] [-6.44857017e-03 -6.21847952e-05 9.99979206e-01 -3.56274636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.41, Y:-16.25, Z:-3.56 [[ 9.74803034e-01 2.22967922e-01 6.65971095e-03 1.44406927e+02] [-2.22963141e-01 9.74825780e-01 -1.46127339e-03 -1.62481918e+01] [-6.81787502e-03 -6.04163425e-05 9.99976756e-01 -3.56316328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.43, Y:-16.26, Z:-3.56 [[ 9.75523919e-01 2.19781311e-01 7.01853789e-03 1.44433961e+02] [-2.19775923e-01 9.75549165e-01 -1.53937600e-03 -1.62552642e+01] [-7.18525486e-03 -4.08075412e-05 9.99974185e-01 -3.56357591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:-16.26, Z:-3.56 [[ 9.75920855e-01 2.17996046e-01 7.49724481e-03 1.44461596e+02] [-2.17989851e-01 9.75949652e-01 -1.64368701e-03 -1.62618182e+01] [-7.67525073e-03 -3.02148501e-05 9.99970544e-01 -3.56429064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.49, Y:-16.27, Z:-3.57 [[ 9.76237583e-01 2.16560985e-01 7.84361090e-03 1.44489036e+02] [-2.16554165e-01 9.76269092e-01 -1.71874431e-03 -1.62683658e+01] [-8.02968785e-03 -2.06638223e-05 9.99967761e-01 -3.56520814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:-16.28, Z:-3.57 [[ 9.76944628e-01 2.13304266e-01 8.97131590e-03 1.44516251e+02] [-2.13295213e-01 9.76985819e-01 -1.96521247e-03 -1.62764883e+01] [-9.18403661e-03 6.36503047e-06 9.99957826e-01 -3.56547816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:-16.28, Z:-3.57 [[ 9.77259510e-01 2.11805786e-01 1.01073849e-02 1.44544039e+02] [-2.11794228e-01 9.77311777e-01 -2.21280290e-03 -1.62835002e+01] [-1.03467508e-02 2.17968958e-05 9.99946471e-01 -3.56601333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.57, Y:-16.29, Z:-3.57 [[ 9.77675121e-01 2.09858908e-01 1.05165287e-02 1.44570238e+02] [-2.09846286e-01 9.77731679e-01 -2.30201561e-03 -1.62917966e+01] [-1.07654418e-02 4.37688918e-05 9.99942050e-01 -3.56607296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:-16.30, Z:-3.57 [[ 9.77703630e-01 2.09745796e-01 1.01150277e-02 1.44597908e+02] [-2.09734123e-01 9.77755951e-01 -2.21328892e-03 -1.62998714e+01] [-1.03542566e-02 4.24741458e-05 9.99946392e-01 -3.56700642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.63, Y:-16.31, Z:-3.57 [[ 9.77640085e-01 2.10086301e-01 9.14382649e-03 1.44625269e+02] [-2.10076780e-01 9.77682845e-01 -2.00047640e-03 -1.63077097e+01] [-9.36003498e-03 3.48402955e-05 9.99956193e-01 -3.56830370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.65, Y:-16.31, Z:-3.57 [[ 9.77458692e-01 2.10948876e-01 8.66471614e-03 1.44652665e+02] [-2.10940361e-01 9.77497095e-01 -1.89552453e-03 -1.63147838e+01] [-8.86959363e-03 2.50585745e-05 9.99960664e-01 -3.56937381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.68, Y:-16.32, Z:-3.57 [[ 9.76718410e-01 2.14373658e-01 8.06733250e-03 1.44679345e+02] [-2.14366398e-01 9.76751726e-01 -1.76430740e-03 -1.63209559e+01] [-8.25800198e-03 -6.13349421e-06 9.99965902e-01 -3.56977297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:-16.33, Z:-3.57 [[ 9.76277574e-01 2.16390388e-01 7.56956046e-03 1.44707738e+02] [-2.16384061e-01 9.76306919e-01 -1.65484744e-03 -1.63266889e+01] [-7.74830733e-03 -2.23417875e-05 9.99969981e-01 -3.57027673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.74, Y:-16.34, Z:-3.57 [[ 9.75440650e-01 2.20181107e-01 5.98478829e-03 1.44735689e+02] [-2.20177223e-01 9.75459009e-01 -1.30835100e-03 -1.63357646e+01] [-6.12598982e-03 -4.14953195e-05 9.99981235e-01 -3.57203636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.76, Y:-16.34, Z:-3.57 [[ 9.75219360e-01 2.21162639e-01 5.85553437e-03 1.44763419e+02] [-2.21158941e-01 9.75236938e-01 -1.27982930e-03 -1.63435931e+01] [-5.99358383e-03 -4.68894702e-05 9.99982037e-01 -3.57277432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.79, Y:-16.35, Z:-3.57 [[ 9.75141921e-01 2.21489341e-01 6.38009204e-03 1.44791434e+02] [-2.21484961e-01 9.75162791e-01 -1.39405938e-03 -1.63507182e+01] [-6.53039765e-03 -5.36886967e-05 9.99978675e-01 -3.57309615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.82, Y:-16.36, Z:-3.57 [[ 9.75289686e-01 2.20819182e-01 6.99413180e-03 1.44818798e+02] [-2.20813902e-01 9.75314762e-01 -1.52795245e-03 -1.63573410e+01] [-7.15888120e-03 -5.42052741e-05 9.99974373e-01 -3.57345598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.85, Y:-16.37, Z:-3.57 [[ 9.75843113e-01 2.18352581e-01 7.23663261e-03 1.44846484e+02] [-2.18346867e-01 9.75869945e-01 -1.58020983e-03 -1.63655460e+01] [-7.40705516e-03 -3.80591794e-05 9.99972567e-01 -3.57415645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:144.87, Y:-16.37, Z:-3.58 [[ 9.76225425e-01 2.16658292e-01 6.56537831e-03 1.44874665e+02] [-2.16653552e-01 9.76247501e-01 -1.43341505e-03 -1.63724488e+01] [-6.71999543e-03 -2.30763124e-05 9.99977420e-01 -3.57549307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.90, Y:-16.38, Z:-3.58 [[ 9.77008391e-01 2.13062040e-01 7.69229864e-03 1.44901647e+02] [-2.13055424e-01 9.77038672e-01 -1.67904770e-03 -1.63814236e+01] [-7.87341458e-03 1.55774928e-06 9.99969004e-01 -3.57548919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.93, Y:-16.39, Z:-3.58 [[ 9.77296934e-01 2.11720201e-01 8.07828760e-03 1.44929087e+02] [-2.11712865e-01 9.77330321e-01 -1.76252045e-03 -1.63886047e+01] [-8.26831659e-03 1.22284194e-05 9.99965817e-01 -3.57597073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.96, Y:-16.39, Z:-3.58 [[ 9.77314534e-01 2.11638946e-01 8.07826677e-03 1.44957760e+02] [-2.11631607e-01 9.77347920e-01 -1.76261620e-03 -1.63947506e+01] [-8.26831546e-03 1.30138530e-05 9.99965817e-01 -3.57665691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.99, Y:-16.40, Z:-3.58 [[ 9.77450222e-01 2.10996126e-01 8.46750637e-03 1.44985624e+02] [-2.10988053e-01 9.77486897e-01 -1.84583309e-03 -1.64028456e+01] [-8.66634016e-03 1.76672814e-05 9.99962446e-01 -3.57749367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.01, Y:-16.41, Z:-3.58 [[ 9.77516300e-01 2.10708363e-01 7.99179294e-03 1.45013010e+02] [-2.10701164e-01 9.77548968e-01 -1.74195535e-03 -1.64143567e+01] [-8.17941350e-03 1.89096793e-05 9.99966548e-01 -3.57843137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:-16.42, Z:-3.58 [[ 9.77437556e-01 2.11075146e-01 7.94395686e-03 1.45041398e+02] [-2.11068046e-01 9.77469837e-01 -1.73132773e-03 -1.64227492e+01] [-8.13041848e-03 1.55493008e-05 9.99966947e-01 -3.57895479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.07, Y:-16.43, Z:-3.58 [[ 9.76830202e-01 2.13859553e-01 8.17606405e-03 1.45069424e+02] [-2.13852131e-01 9.76864418e-01 -1.78168510e-03 -1.64310714e+01] [-8.36793643e-03 -8.06490468e-06 9.99964988e-01 -3.57959525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.10, Y:-16.44, Z:-3.58 [[ 9.76414030e-01 2.15781432e-01 7.34948330e-03 1.45098593e+02] [-2.15775491e-01 9.76441690e-01 -1.60141792e-03 -1.64385023e+01] [-7.52189814e-03 -2.21914445e-05 9.99971710e-01 -3.58126232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.13, Y:-16.45, Z:-3.58 [[ 9.75922810e-01 2.18015917e-01 6.61282280e-03 1.45127030e+02] [-2.18011159e-01 9.75945213e-01 -1.44080428e-03 -1.64459092e+01] [-6.76787102e-03 -3.55553952e-05 9.99977097e-01 -3.58191820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.15, Y:-16.45, Z:-3.58 [[ 9.75394181e-01 2.20372803e-01 6.48219055e-03 1.45154685e+02] [-2.20368283e-01 9.75415719e-01 -1.41239524e-03 -1.64529647e+01] [-6.63408405e-03 -5.08270957e-05 9.99977993e-01 -3.58193211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.18, Y:-16.46, Z:-3.58 [[ 9.74309792e-01 2.25145187e-01 5.48398208e-03 1.45181862e+02] [-2.25142025e-01 9.74325223e-01 -1.19529202e-03 -1.64588629e+01] [-5.61229631e-03 -7.00901117e-05 9.99984248e-01 -3.58323569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:-16.46, Z:-3.58 [[ 9.73868146e-01 2.27046360e-01 5.54843189e-03 1.45209858e+02] [-2.27043158e-01 9.73883948e-01 -1.20866714e-03 -1.64645608e+01] [-5.67795223e-03 -8.26510726e-05 9.99983877e-01 -3.58410623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:-16.47, Z:-3.59 [[ 9.73278513e-01 2.29583245e-01 4.52447230e-03 1.45238466e+02] [-2.29581143e-01 9.73289026e-01 -9.85603720e-04 -1.64707157e+01] [-4.62989733e-03 -7.94665972e-05 9.99989279e-01 -3.58554721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.27, Y:-16.48, Z:-3.59 [[ 9.73161001e-01 2.30082738e-01 4.42722190e-03 1.45265194e+02] [-2.30080730e-01 9.73171068e-01 -9.64446693e-04 -1.64773352e+01] [-4.53034680e-03 -8.00565390e-05 9.99989735e-01 -3.58681277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.29, Y:-16.48, Z:-3.59 [[ 9.73191555e-01 2.29942796e-01 4.95061758e-03 1.45293085e+02] [-2.29940287e-01 9.73204142e-01 -1.07778145e-03 -1.64843337e+01] [-5.06578961e-03 -8.94586231e-05 9.99987165e-01 -3.58698406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.32, Y:-16.49, Z:-3.59 [[ 9.73223267e-01 2.29763675e-01 6.71763883e-03 1.45320578e+02] [-2.29759055e-01 9.73246443e-01 -1.46192681e-03 -1.64903927e+01] [-6.87381578e-03 -1.20657167e-04 9.99976368e-01 -3.58645251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-16.50, Z:-3.59 [[ 9.73263936e-01 2.29596761e-01 6.52976858e-03 1.45349411e+02] [-2.29592396e-01 9.73285834e-01 -1.42049390e-03 -1.64958015e+01] [-6.68147206e-03 -1.16669734e-04 9.99977672e-01 -3.58665497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.38, Y:-16.50, Z:-3.59 [[ 9.73244629e-01 2.29683342e-01 6.36034956e-03 1.45377126e+02] [-2.29679204e-01 9.73265405e-01 -1.38354628e-03 -1.65009810e+01] [-6.50808573e-03 -1.14311038e-04 9.99978816e-01 -3.58721762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-16.50, Z:-3.59 [[ 9.73078723e-01 2.30378115e-01 6.61240582e-03 1.45404902e+02] [-2.30373661e-01 9.73101181e-01 -1.43785712e-03 -1.65045570e+01] [-6.76579073e-03 -1.24175965e-04 9.99977104e-01 -3.58717896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:145.43, Y:-16.51, Z:-3.59 [[ 9.72968163e-01 2.30844820e-01 6.60468688e-03 1.45433192e+02] [-2.30840392e-01 9.72990572e-01 -1.43560876e-03 -1.65087997e+01] [-6.75770091e-03 -1.27826885e-04 9.99977158e-01 -3.58874743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.46, Y:-16.51, Z:-3.59 [[ 9.72844360e-01 2.31330725e-01 7.74258601e-03 1.45460834e+02] [-2.31324658e-01 9.72875157e-01 -1.68254364e-03 -1.65118395e+01] [-7.92179362e-03 -1.54197964e-04 9.99968610e-01 -3.58875412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.49, Y:-16.52, Z:-3.59 [[ 9.72858739e-01 2.31277201e-01 7.53192875e-03 1.45489361e+02] [-2.31271462e-01 9.72887883e-01 -1.63613237e-03 -1.65161784e+01] [-7.70612234e-03 -1.50194498e-04 9.99970296e-01 -3.58942182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.52, Y:-16.52, Z:-3.59 [[ 9.72974427e-01 2.30791819e-01 7.47672863e-03 1.45516902e+02] [-2.30786150e-01 9.73003142e-01 -1.62403729e-03 -1.65203857e+01] [-7.64969497e-03 -1.45378663e-04 9.99970730e-01 -3.59005042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-16.52, Z:-3.59 [[ 9.73378577e-01 2.29094663e-01 7.05560778e-03 1.45545829e+02] [-2.29089575e-01 9.73404140e-01 -1.53192105e-03 -1.65243659e+01] [-7.21891276e-03 -1.25227060e-04 9.99973935e-01 -3.59003128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:-16.53, Z:-3.59 [[ 9.73725798e-01 2.27624333e-01 6.72556819e-03 1.45574823e+02] [-2.27619677e-01 9.73749018e-01 -1.45999215e-03 -1.65284902e+01] [-6.88134517e-03 -1.09239636e-04 9.99976317e-01 -3.59083690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:-16.53, Z:-3.59 [[ 9.74150227e-01 2.25804236e-01 6.61676022e-03 1.45603433e+02] [-2.25799689e-01 9.74172694e-01 -1.43606534e-03 -1.65321110e+01] [-6.77013677e-03 -9.51190296e-05 9.99977078e-01 -3.59166767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-16.54, Z:-3.59 [[ 9.74685878e-01 2.23478013e-01 6.70943069e-03 1.45631925e+02] [-2.23473285e-01 9.74708968e-01 -1.45582489e-03 -1.65359834e+01] [-6.86508711e-03 -8.04065577e-05 9.99976432e-01 -3.59213117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-16.54, Z:-3.59 [[ 9.75926564e-01 2.17973835e-01 7.39932068e-03 1.45660302e+02] [-2.17967932e-01 9.75954612e-01 -1.60482154e-03 -1.65405547e+01] [-7.57121025e-03 -4.66266598e-05 9.99971337e-01 -3.59234916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:-16.55, Z:-3.59 [[ 9.77359624e-01 2.11441611e-01 7.78526533e-03 1.45688113e+02] [-2.11434868e-01 9.77390631e-01 -1.68856946e-03 -1.65450026e+01] [-7.96627923e-03 4.26306677e-06 9.99968269e-01 -3.59223907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:-16.55, Z:-3.59 [[ 9.78033488e-01 2.08289047e-01 8.13449701e-03 1.45714932e+02] [-2.08281582e-01 9.78067315e-01 -1.76372974e-03 -1.65505734e+01] [-8.32345123e-03 3.07208455e-05 9.99965359e-01 -3.59257350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-16.56, Z:-3.59 [[ 9.78696540e-01 2.05148907e-01 8.18593218e-03 1.45743506e+02] [-2.05141243e-01 9.78730771e-01 -1.77416985e-03 -1.65570009e+01] [-8.37579272e-03 5.71015931e-05 9.99964921e-01 -3.59325128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:-16.56, Z:-3.59 [[ 9.79298024e-01 2.02268684e-01 7.92213147e-03 1.45770300e+02] [-2.02261413e-01 9.79330063e-01 -1.71681383e-03 -1.65633215e+01] [-8.10563919e-03 7.89308857e-05 9.99967146e-01 -3.59421184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.80, Y:-16.57, Z:-3.60 [[ 9.80247497e-01 1.97667332e-01 6.51702398e-03 1.45799486e+02] [-1.97662315e-01 9.80269155e-01 -1.41154791e-03 -1.65686142e+01] [-6.66745450e-03 9.54962598e-05 9.99977768e-01 -3.59664042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.83, Y:-16.57, Z:-3.60 [[ 9.80484351e-01 1.96490920e-01 6.46187603e-03 1.45828862e+02] [-1.96485963e-01 9.80505639e-01 -1.39944911e-03 -1.65741969e+01] [-6.61088493e-03 1.02470019e-04 9.99978143e-01 -3.59765265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.86, Y:-16.58, Z:-3.60 [[ 9.80457686e-01 1.96666384e-01 5.00590112e-03 1.45858113e+02] [-1.96663412e-01 9.80470462e-01 -1.08412936e-03 -1.65811908e+01] [-5.12134998e-03 7.84653766e-05 9.99986883e-01 -3.59719100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-16.59, Z:-3.60 [[ 9.80308415e-01 1.97425628e-01 4.30503557e-03 1.45885772e+02] [-1.97423433e-01 9.80317865e-01 -9.33024428e-04 -1.65869983e+01] [-4.40450622e-03 6.47367937e-05 9.99990298e-01 -3.59799903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.91, Y:-16.59, Z:-3.60 [[ 9.80100848e-01 1.98458506e-01 4.06802582e-03 1.45913362e+02] [-1.98456557e-01 9.80109289e-01 -8.81467408e-04 -1.65914391e+01] [-4.16204460e-03 5.66005556e-05 9.99991337e-01 -3.60020454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:145.94, Y:-16.59, Z:-3.60 [[ 9.79463845e-01 2.01584386e-01 3.78304921e-03 1.45940929e+02] [-2.01582724e-01 9.79471150e-01 -8.19570860e-04 -1.65943112e+01] [-3.87060025e-03 4.01426597e-05 9.99992508e-01 -3.60101374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.97, Y:-16.60, Z:-3.60 [[ 9.79073037e-01 2.03476659e-01 3.63824520e-03 1.45969529e+02] [-2.03475137e-01 9.79079797e-01 -7.87754141e-04 -1.66000468e+01] [-3.72242195e-03 3.09764012e-05 9.99993071e-01 -3.60019219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:-16.61, Z:-3.60 [[ 9.78537349e-01 2.06030734e-01 3.99918959e-03 1.45997356e+02] [-2.06028917e-01 9.78545521e-01 -8.65632000e-04 -1.66056313e+01] [-4.09173586e-03 2.31045414e-05 9.99991629e-01 -3.60146630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:-16.61, Z:-3.60 [[ 9.78401284e-01 2.06683030e-01 3.61288894e-03 1.46025606e+02] [-2.06681552e-01 9.78407954e-01 -7.81974730e-04 -1.66115928e+01] [-3.69650018e-03 1.83675875e-05 9.99993168e-01 -3.60226414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-16.62, Z:-3.60 [[ 9.78355322e-01 2.06911864e-01 2.88881019e-03 1.46052385e+02] [-2.06910918e-01 9.78359586e-01 -6.25696054e-04 -1.66178764e+01] [-2.95575908e-03 1.44266967e-05 9.99995632e-01 -3.60293905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:-16.63, Z:-3.60 [[ 9.78395724e-01 2.06731115e-01 2.01308869e-03 1.46080062e+02] [-2.06730655e-01 9.78397795e-01 -4.35964070e-04 -1.66250173e+01] [-2.05972888e-03 1.03782377e-05 9.99997879e-01 -3.60351412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.11, Y:-16.63, Z:-3.60 [[ 9.78691775e-01 2.05328819e-01 1.57644129e-03 1.46106768e+02] [-2.05328535e-01 9.78693045e-01 -3.41938804e-04 -1.66338431e+01] [-1.61306202e-03 1.09643144e-05 9.99998699e-01 -3.60383645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.13, Y:-16.64, Z:-3.60 [[ 9.78929174e-01 2.04188845e-01 2.14210551e-03 1.46134871e+02] [-2.04188319e-01 9.78931517e-01 -4.63572947e-04 -1.66407074e+01] [-2.19163103e-03 1.64121570e-05 9.99997598e-01 -3.60375534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:-16.65, Z:-3.60 [[ 9.79176674e-01 2.02976220e-01 3.70084821e-03 1.46162911e+02] [-2.02974646e-01 9.79183667e-01 -7.99900814e-04 -1.66487719e+01] [-3.78617097e-03 3.20658623e-05 9.99992832e-01 -3.60376153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:-16.66, Z:-3.60 [[ 9.79164198e-01 2.03020455e-01 4.49094765e-03 1.46189357e+02] [-2.03018139e-01 9.79174496e-01 -9.70418225e-04 -1.66562050e+01] [-4.59443615e-03 3.84549503e-05 9.99989445e-01 -3.60394980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:-16.66, Z:-3.60 [[ 9.79012413e-01 2.03737814e-01 5.05941100e-03 1.46215807e+02] [-2.03734888e-01 9.79025486e-01 -1.09273212e-03 -1.66643491e+01] [-5.17592316e-03 3.90197756e-05 9.99986604e-01 -3.60436733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.24, Y:-16.67, Z:-3.60 [[ 9.78744966e-01 2.05007699e-01 5.48953437e-03 1.46242267e+02] [-2.05004276e-01 9.78760360e-01 -1.18511886e-03 -1.66729701e+01] [-5.61589713e-03 3.45510931e-05 9.99984230e-01 -3.60439987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:-16.68, Z:-3.60 [[ 9.77803401e-01 2.09468455e-01 4.84509920e-03 1.46269477e+02] [-2.09465846e-01 9.77815405e-01 -1.04568993e-03 -1.66824416e+01] [-4.95665169e-03 7.59636790e-06 9.99987716e-01 -3.60416249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.30, Y:-16.69, Z:-3.61 [[ 9.77196307e-01 2.12296971e-01 4.16823367e-03 1.46297437e+02] [-2.12295065e-01 9.77205196e-01 -8.99561181e-04 -1.66883294e+01] [-4.26419372e-03 -5.84757565e-06 9.99990908e-01 -3.60530405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:-16.69, Z:-3.61 [[ 9.76428539e-01 2.15786116e-01 4.86421462e-03 1.46324769e+02] [-2.15783565e-01 9.76440654e-01 -1.04954007e-03 -1.66947900e+01] [-4.97609308e-03 -2.48166930e-05 9.99987619e-01 -3.60524339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:-16.70, Z:-3.61 [[ 9.74719713e-01 2.23365705e-01 5.40764657e-03 1.46353123e+02] [-2.23362673e-01 9.74734711e-01 -1.16600693e-03 -1.67015070e+01] [-5.53146678e-03 -7.13364551e-05 9.99984699e-01 -3.60603115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:-16.71, Z:-3.61 [[ 9.73875005e-01 2.27034744e-01 4.76449406e-03 1.46381111e+02] [-2.27032434e-01 9.73886656e-01 -1.02728646e-03 -1.67071262e+01] [-4.87330691e-03 -8.12460762e-05 9.99988122e-01 -3.60617507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:-16.71, Z:-3.61 [[ 9.72269798e-01 2.33806699e-01 5.08609189e-03 1.46408933e+02] [-2.33804160e-01 9.72283093e-01 -1.09650696e-03 -1.67118938e+01] [-5.20149182e-03 -1.23048842e-04 9.99986465e-01 -3.60762858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:-16.72, Z:-3.61 [[ 9.71631845e-01 2.36440991e-01 5.21689615e-03 1.46437506e+02] [-2.36438361e-01 9.71645840e-01 -1.12410263e-03 -1.67175756e+01] [-5.33475938e-03 -1.41260457e-04 9.99985760e-01 -3.60840601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:-16.72, Z:-3.61 [[ 9.70731628e-01 2.40137387e-01 3.76053521e-03 1.46465522e+02] [-2.40136046e-01 9.70738905e-01 -8.10659940e-04 -1.67217231e+01] [-3.84516759e-03 -1.16106814e-04 9.99992601e-01 -3.60935100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:-16.72, Z:-3.61 [[ 9.70526474e-01 2.40971164e-01 3.35588404e-03 1.46491944e+02] [-2.40970099e-01 9.70532270e-01 -7.24264313e-04 -1.67249948e+01] [-3.43152057e-03 -1.05750017e-04 9.99994107e-01 -3.61023648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:-16.73, Z:-3.61 [[ 9.70450383e-01 2.41271294e-01 3.77061416e-03 1.46519224e+02] [-2.41269954e-01 9.70457700e-01 -8.13016109e-04 -1.67288403e+01] [-3.85537900e-03 -1.20744111e-04 9.99992561e-01 -3.61074062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:-16.73, Z:-3.61 [[ 9.70546178e-01 2.40883099e-01 3.93058571e-03 1.46547149e+02] [-2.40881645e-01 9.70554129e-01 -8.46390034e-04 -1.67340108e+01] [-4.01872725e-03 -1.25345339e-04 9.99991917e-01 -3.61063099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:-16.74, Z:-3.61 [[ 9.71099348e-01 2.38618087e-01 5.24071488e-03 1.46574666e+02] [-2.38615475e-01 9.71113476e-01 -1.12731401e-03 -1.67392630e+01] [-5.35832636e-03 -1.55781768e-04 9.99985632e-01 -3.61035433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:-16.74, Z:-3.61 [[ 9.72078209e-01 2.34594971e-01 5.39955490e-03 1.46602985e+02] [-2.34592140e-01 9.72093195e-01 -1.16088822e-03 -1.67424924e+01] [-5.52120912e-03 -1.38218997e-04 9.99984748e-01 -3.61047850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:-16.75, Z:-3.61 [[ 9.72092367e-01 2.34536299e-01 5.39956464e-03 1.46630868e+02] [-2.34533466e-01 9.72107353e-01 -1.16084302e-03 -1.67483527e+01] [-5.52121632e-03 -1.37931971e-04 9.99984748e-01 -3.61114519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.66, Y:-16.75, Z:-3.61 [[ 9.73271033e-01 2.29588061e-01 5.72880644e-03 1.46658832e+02] [-2.29584789e-01 9.73287886e-01 -1.23117077e-03 -1.67517889e+01] [-5.85844002e-03 -1.16983970e-04 9.99982832e-01 -3.61220593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.69, Y:-16.76, Z:-3.61 [[ 9.73284214e-01 2.29532174e-01 5.72889002e-03 1.46686716e+02] [-2.29528904e-01 9.73301067e-01 -1.23078155e-03 -1.67576417e+01] [-5.85843874e-03 -1.17045592e-04 9.99982832e-01 -3.61287260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-16.76, Z:-3.61 [[ 9.73851497e-01 2.27103094e-01 6.11939228e-03 1.46714071e+02] [-2.27099316e-01 9.73870717e-01 -1.31443675e-03 -1.67625904e+01] [-6.25800960e-03 -1.09643609e-04 9.99980412e-01 -3.61327422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-16.77, Z:-3.61 [[ 9.74874311e-01 2.22659457e-01 6.54547836e-03 1.46741663e+02] [-2.22655039e-01 9.74896281e-01 -1.40536357e-03 -1.67672325e+01] [-6.69408000e-03 -8.73308972e-05 9.99977591e-01 -3.61385157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:-16.77, Z:-3.61 [[ 9.75298563e-01 2.20812326e-01 5.88475216e-03 1.46769883e+02] [-2.20808725e-01 9.75316314e-01 -1.26286276e-03 -1.67720462e+01] [-6.01835045e-03 -6.77363920e-05 9.99981887e-01 -3.61439651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.80, Y:-16.78, Z:-3.62 [[ 9.75620045e-01 2.19388524e-01 5.84840671e-03 1.46797852e+02] [-2.19384943e-01 9.75637572e-01 -1.25498331e-03 -1.67763936e+01] [-5.98125426e-03 -5.86655012e-05 9.99982110e-01 -3.61504467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.83, Y:-16.78, Z:-3.62 [[ 9.75879542e-01 2.18233337e-01 5.77331017e-03 1.46825623e+02] [-2.18229828e-01 9.75896618e-01 -1.23848959e-03 -1.67804304e+01] [-5.90443358e-03 -5.12918317e-05 9.99982567e-01 -3.61612020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:146.85, Y:-16.78, Z:-3.62 [[ 9.76313817e-01 2.16306630e-01 4.77207118e-03 1.46854779e+02] [-2.16304211e-01 9.76325479e-01 -1.02344993e-03 -1.67839127e+01] [-4.88047369e-03 -3.30107865e-05 9.99988090e-01 -3.61804533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:-16.79, Z:-3.62 [[ 9.76530705e-01 2.15321291e-01 4.95211911e-03 1.46883393e+02] [-2.15318675e-01 9.76543261e-01 -1.06177828e-03 -1.67889907e+01] [-5.06458202e-03 -2.94246320e-05 9.99987174e-01 -3.61731634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:-16.79, Z:-3.62 [[ 9.77084595e-01 2.12813432e-01 4.01703164e-03 1.46911581e+02] [-2.12811689e-01 9.77092853e-01 -8.61535673e-04 -1.67925107e+01] [-4.10835927e-03 -1.30780527e-05 9.99991561e-01 -3.61887443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:-16.80, Z:-3.62 [[ 9.77392492e-01 2.11408249e-01 3.23547274e-03 1.46939208e+02] [-2.11407109e-01 9.77397848e-01 -6.94246879e-04 -1.67975371e+01] [-3.30911361e-03 -5.45024938e-06 9.99994525e-01 -3.61983246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:-16.80, Z:-3.62 [[ 9.77760606e-01 2.09709043e-01 2.51284198e-03 1.46967245e+02] [-2.09708349e-01 9.77763835e-01 -5.39397278e-04 -1.68017044e+01] [-2.57008250e-03 4.37466387e-07 9.99996697e-01 -3.62024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:-16.81, Z:-3.62 [[ 9.77833996e-01 2.09366435e-01 2.52424625e-03 1.46993600e+02] [-2.09365734e-01 9.77837254e-01 -5.41894413e-04 -1.68065498e+01] [-2.58175652e-03 1.39211160e-06 9.99996667e-01 -3.62151187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.02, Y:-16.81, Z:-3.62 [[ 9.77909800e-01 2.09024051e-01 1.17005079e-03 1.47020859e+02] [-2.09023899e-01 9.77910500e-01 -2.51896184e-04 -1.68117225e+01] [-1.19685732e-03 1.76316681e-06 9.99999284e-01 -3.62252198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:-16.82, Z:-3.62 [[ 9.77998255e-01 2.08599582e-01 2.37224525e-03 1.47047658e+02] [-2.08598961e-01 9.78001132e-01 -5.08985414e-04 -1.68178241e+01] [-2.42623268e-03 2.93895217e-06 9.99997057e-01 -3.62294334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:-16.82, Z:-3.62 [[ 9.78049416e-01 2.08351010e-01 3.03249819e-03 1.47075157e+02] [-2.08349997e-01 9.78054117e-01 -6.49579195e-04 -1.68231441e+01] [-3.10128782e-03 3.49956241e-06 9.99995191e-01 -3.62332660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:-16.83, Z:-3.62 [[ 9.78054345e-01 2.08319450e-01 3.56448201e-03 1.47101712e+02] [-2.08318052e-01 9.78060840e-01 -7.63183686e-04 -1.68295527e+01] [-3.64526628e-03 3.88916893e-06 9.99993356e-01 -3.62429195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:-16.84, Z:-3.63 [[ 9.78131304e-01 2.07959826e-01 3.44422172e-03 1.47128873e+02] [-2.07958521e-01 9.78137368e-01 -7.36946723e-04 -1.68376814e+01] [-3.52217728e-03 4.57540517e-06 9.99993797e-01 -3.62505258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:-16.85, Z:-3.63 [[ 9.77923069e-01 2.08945098e-01 2.90127277e-03 1.47156582e+02] [-2.08944177e-01 9.77927373e-01 -6.20322948e-04 -1.68464124e+01] [-2.96684750e-03 4.24068221e-07 9.99995599e-01 -3.62527606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.18, Y:-16.85, Z:-3.63 [[ 9.77583697e-01 2.10526764e-01 2.93206922e-03 1.47183188e+02] [-2.10525828e-01 9.77588094e-01 -6.27505150e-04 -1.68502368e+01] [-2.99846259e-03 -3.83749764e-06 9.99995505e-01 -3.62586276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:-16.85, Z:-3.63 [[ 9.77049037e-01 2.12992708e-01 3.04721131e-03 1.47210048e+02] [-2.12991711e-01 9.77053789e-01 -6.51769214e-04 -1.68537666e+01] [-3.11611145e-03 -1.22202685e-05 9.99995145e-01 -3.62674212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:-16.86, Z:-3.63 [[ 9.75809420e-01 2.18605390e-01 2.76738019e-03 1.47237373e+02] [-2.18604591e-01 9.75813344e-01 -5.91613714e-04 -1.68590553e+01] [-2.82977646e-03 -2.76597796e-05 9.99995996e-01 -3.62723096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:-16.86, Z:-3.63 [[ 9.75161693e-01 2.21469516e-01 3.30537432e-03 1.47263260e+02] [-2.21468394e-01 9.75167294e-01 -7.06274879e-04 -1.68648388e+01] [-3.37971129e-03 -4.33037363e-05 9.99994288e-01 -3.62810836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-16.87, Z:-3.63 [[ 9.73946590e-01 2.26744489e-01 3.87007183e-03 1.47290877e+02] [-2.26742996e-01 9.73954276e-01 -8.25991199e-04 -1.68690637e+01] [-3.95656196e-03 -7.30403709e-05 9.99992170e-01 -3.62809693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.32, Y:-16.87, Z:-3.63 [[ 9.73449291e-01 2.28859129e-01 4.46946816e-03 1.47318543e+02] [-2.28857163e-01 9.73459547e-01 -9.53321758e-04 -1.68738484e+01] [-4.56902284e-03 -9.48594122e-05 9.99989557e-01 -3.62828154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-16.88, Z:-3.63 [[ 9.73120391e-01 2.30233109e-01 5.42412223e-03 1.47344901e+02] [-2.30230238e-01 9.73135500e-01 -1.15638717e-03 -1.68776641e+01] [-5.54464450e-03 -1.23493017e-04 9.99984621e-01 -3.62900723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.37, Y:-16.88, Z:-3.63 [[ 9.72920308e-01 2.31070089e-01 5.71743789e-03 1.47372971e+02] [-2.31066918e-01 9.72937097e-01 -1.21811156e-03 -1.68807154e+01] [-5.84417657e-03 -1.35985279e-04 9.99982913e-01 -3.62909554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:-16.88, Z:-3.63 [[ 9.73002031e-01 2.30729664e-01 5.55608714e-03 1.47400552e+02] [-2.30726665e-01 9.73017885e-01 -1.18357319e-03 -1.68792151e+01] [-5.67925760e-03 -1.30318337e-04 9.99983864e-01 -3.63046923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-16.88, Z:-3.63 [[ 9.73302539e-01 2.29469747e-01 5.07968250e-03 1.47427815e+02] [-2.29467225e-01 9.73315788e-01 -1.08179157e-03 -1.68829438e+01] [-5.19237361e-03 -1.12710170e-04 9.99986513e-01 -3.63181614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:-16.89, Z:-3.63 [[ 9.74246070e-01 2.25459999e-01 3.51897604e-03 1.47455973e+02] [-2.25458763e-01 9.74252423e-01 -7.49495813e-04 -1.68867026e+01] [-3.59735226e-03 -6.31906329e-05 9.99993528e-01 -3.63345835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:-16.89, Z:-3.63 [[ 9.74769725e-01 2.23198990e-01 2.48877638e-03 1.47483656e+02] [-2.23198363e-01 9.74772902e-01 -5.30394845e-04 -1.68905303e+01] [-2.54437537e-03 -3.84779767e-05 9.99996762e-01 -3.63420553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:-16.89, Z:-3.64 [[ 9.75896726e-01 2.18223653e-01 2.00438091e-03 1.47512441e+02] [-2.18223236e-01 9.75898784e-01 -4.27343168e-04 -1.68918488e+01] [-2.04932928e-03 -2.03596884e-05 9.99997900e-01 -3.63609289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:-16.90, Z:-3.64 [[ 9.76454915e-01 2.15708689e-01 2.35805649e-03 1.47539071e+02] [-2.15708104e-01 9.76457762e-01 -5.02524925e-04 -1.68961402e+01] [-2.41094156e-03 -1.79589633e-05 9.99997094e-01 -3.63625234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.57, Y:-16.90, Z:-3.64 [[ 9.77088913e-01 2.12817632e-01 2.43120337e-03 1.47567120e+02] [-2.12817003e-01 9.77091938e-01 -5.17655905e-04 -1.69006311e+01] [-2.48567552e-03 -1.16055683e-05 9.99996911e-01 -3.63647707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:-16.90, Z:-3.64 [[ 9.77627956e-01 2.10324580e-01 2.67406838e-03 1.47595010e+02] [-2.10323811e-01 9.77631613e-01 -5.68979861e-04 -1.69048417e+01] [-2.73392423e-03 -6.16963295e-06 9.99996263e-01 -3.63688792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:-16.91, Z:-3.64 [[ 9.78593104e-01 2.05787546e-01 2.64988199e-03 1.47622398e+02] [-2.05786772e-01 9.78596692e-01 -5.64622586e-04 -1.69061654e+01] [-2.70935804e-03 7.22510920e-06 9.99996330e-01 -3.63819724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:-16.91, Z:-3.64 [[ 9.79088081e-01 2.03423613e-01 2.31588524e-03 1.47649019e+02] [-2.03423017e-01 9.79090820e-01 -4.92763923e-04 -1.69103919e+01] [-2.36770180e-03 1.13549220e-05 9.99997197e-01 -3.63921700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:-16.92, Z:-3.64 [[ 9.80083626e-01 1.98567728e-01 2.63516974e-03 1.47676090e+02] [-1.98566941e-01 9.80087168e-01 -5.59938898e-04 -1.69164024e+01] [-2.69388185e-03 2.55293519e-05 9.99996371e-01 -3.63941282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:147.70, Y:-16.92, Z:-3.64 [[ 9.80532492e-01 1.96341694e-01 2.44377830e-03 1.47702233e+02] [-1.96341009e-01 9.80535536e-01 -5.19452501e-04 -1.69207593e+01] [-2.49820165e-03 2.95261582e-05 9.99996879e-01 -3.64115080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-16.93, Z:-3.64 [[ 9.80831670e-01 1.94835177e-01 2.91363909e-03 1.47729348e+02] [-1.94834199e-01 9.80835997e-01 -6.18466238e-04 -1.69263473e+01] [-2.97830108e-03 3.89347337e-05 9.99995564e-01 -3.64041918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:-16.93, Z:-3.64 [[ 9.81024046e-01 1.93874083e-01 2.15917822e-03 1.47756437e+02] [-1.93873543e-01 9.81026421e-01 -4.58627451e-04 -1.69323878e+01] [-2.20712686e-03 3.13170261e-05 9.99997564e-01 -3.64146494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:-16.94, Z:-3.64 [[ 9.80879330e-01 1.94601503e-01 2.44828220e-03 1.47783257e+02] [-1.94600811e-01 9.80882385e-01 -5.19867388e-04 -1.69373875e+01] [-2.50264386e-03 3.34894735e-05 9.99996868e-01 -3.64172329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:-16.94, Z:-3.64 [[ 9.80588738e-01 1.96055920e-01 2.79350978e-03 1.47811601e+02] [-1.96055028e-01 9.80592716e-01 -5.92386463e-04 -1.69407010e+01] [-2.85543621e-03 3.32058562e-05 9.99995923e-01 -3.64164294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:-16.94, Z:-3.64 [[ 9.79641796e-01 2.00728826e-01 3.14469329e-03 1.47839875e+02] [-2.00727721e-01 9.79646844e-01 -6.66442056e-04 -1.69432933e+01] [-3.21446298e-03 2.16473775e-05 9.99994833e-01 -3.64250117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:-16.95, Z:-3.64 [[ 9.79167023e-01 2.03040105e-01 2.58023725e-03 1.47865712e+02] [-2.03039368e-01 9.79170422e-01 -5.47196174e-04 -1.69494976e+01] [-2.63759476e-03 1.19067087e-05 9.99996521e-01 -3.64277746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.89, Y:-16.95, Z:-3.64 [[ 9.78104678e-01 2.08102343e-01 2.15746065e-03 1.47893603e+02] [-2.08101840e-01 9.78107057e-01 -4.57383187e-04 -1.69538526e+01] [-2.20541000e-03 -1.60289675e-06 9.99997568e-01 -3.64359946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-16.96, Z:-3.64 [[ 9.77536614e-01 2.10750368e-01 2.53977647e-03 1.47920189e+02] [-2.10749681e-01 9.77539913e-01 -5.38181517e-04 -1.69571629e+01] [-2.59615482e-03 -9.16494192e-06 9.99996630e-01 -3.64456468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:-16.96, Z:-3.65 [[ 9.77016631e-01 2.13148634e-01 2.48246675e-03 1.47948309e+02] [-2.13147987e-01 9.77019785e-01 -5.25576355e-04 -1.69610681e+01] [-2.53744502e-03 -1.56359507e-05 9.99996781e-01 -3.64524430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:-16.97, Z:-3.65 [[ 9.76575174e-01 2.15162417e-01 2.46241079e-03 1.47975556e+02] [-2.15161787e-01 9.76578278e-01 -5.21154009e-04 -1.69651577e+01] [-2.51686964e-03 -2.08706372e-05 9.99996832e-01 -3.64658543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-16.97, Z:-3.65 [[ 9.75949856e-01 2.17986556e-01 1.93387975e-03 1.48003410e+02] [-2.17986173e-01 9.75951772e-01 -4.09525085e-04 -1.69674380e+01] [-1.97664433e-03 -2.18830960e-05 9.99998046e-01 -3.64767761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:-16.97, Z:-3.65 [[ 9.75791339e-01 2.18693100e-01 2.14257867e-03 1.48030021e+02] [-2.18692631e-01 9.75793691e-01 -4.53620242e-04 -1.69719058e+01] [-2.18991836e-03 -2.59274623e-05 9.99997602e-01 -3.64892204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:-16.98, Z:-3.65 [[ 9.75825733e-01 2.18541807e-01 1.90169714e-03 1.48057712e+02] [-2.18541438e-01 9.75827586e-01 -4.02397893e-04 -1.69772804e+01] [-1.94366929e-03 -2.29294078e-05 9.99998111e-01 -3.65041124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.09, Y:-16.98, Z:-3.65 [[ 9.76025633e-01 2.17647461e-01 1.88343862e-03 1.48085489e+02] [-2.17647097e-01 9.76027450e-01 -3.98421061e-04 -1.69822232e+01] [-1.92500313e-03 -2.10557804e-05 9.99998147e-01 -3.65084479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.11, Y:-16.99, Z:-3.65 [[ 9.76675777e-01 2.14707724e-01 2.24044255e-03 1.48112110e+02] [-2.14707202e-01 9.76678347e-01 -4.73694424e-04 -1.69853910e+01] [-2.28989758e-03 -1.83932815e-05 9.99997378e-01 -3.65199471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:-16.99, Z:-3.65 [[ 9.77059282e-01 2.12957958e-01 2.01661865e-03 1.48138369e+02] [-2.12957531e-01 9.77061363e-01 -4.26358981e-04 -1.69905953e+01] [-2.06115670e-03 -1.28761284e-05 9.99997876e-01 -3.65264865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:-17.00, Z:-3.65 [[ 9.77459907e-01 2.11115366e-01 1.55978997e-03 1.48165865e+02] [-2.11115108e-01 9.77461151e-01 -3.29816771e-04 -1.69961631e+01] [-1.59426349e-03 -6.91255835e-06 9.99998729e-01 -3.65333277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:-17.00, Z:-3.65 [[ 9.78068104e-01 2.08282476e-01 1.09317973e-03 1.48193197e+02] [-2.08282347e-01 9.78068714e-01 -2.31583739e-04 -1.70025872e+01] [-1.11743973e-03 -1.18537256e-06 9.99999376e-01 -3.65453840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:-17.01, Z:-3.66 [[ 9.78364003e-01 2.06889560e-01 7.66905792e-04 1.48219814e+02] [-2.06889495e-01 9.78364303e-01 -1.64256507e-04 -1.70078934e+01] [-7.84296208e-04 2.03790149e-06 9.99999692e-01 -3.65530999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.25, Y:-17.01, Z:-3.66 [[ 9.78605063e-01 2.05747625e-01 -2.10948629e-04 1.48246867e+02] [-2.05747621e-01 9.78605086e-01 4.25603589e-05 -1.70133179e+01] [ 2.15192094e-04 1.75239577e-06 9.99999977e-01 -3.65684792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:-17.02, Z:-3.66 [[ 9.78879985e-01 2.04435720e-01 1.06504117e-04 1.48273518e+02] [-2.04435718e-01 9.78879991e-01 -2.55305175e-05 -1.70195371e+01] [-1.09474099e-04 3.21806697e-06 9.99999994e-01 -3.65659970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.30, Y:-17.03, Z:-3.66 [[ 9.79091472e-01 2.03420387e-01 1.90721168e-04 1.48300699e+02] [-2.03420383e-01 9.79091490e-01 -4.17685850e-05 -1.70262671e+01] [-1.95230054e-04 2.09869238e-06 9.99999981e-01 -3.65722575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.33, Y:-17.03, Z:-3.66 [[ 9.79468855e-01 2.01594692e-01 5.84320341e-04 1.48328292e+02] [-2.01594654e-01 9.79469030e-01 -1.24325746e-04 -1.70328599e+01] [-5.97387088e-04 3.97733863e-06 9.99999822e-01 -3.65838037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:-17.04, Z:-3.66 [[ 9.79572002e-01 2.01088218e-01 1.49068685e-03 1.48354271e+02] [-2.01087972e-01 9.79573136e-01 -3.14630444e-04 -1.70390617e+01] [-1.52350527e-03 8.44397802e-06 9.99998839e-01 -3.65790263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:-17.05, Z:-3.66 [[ 9.79479276e-01 2.01542758e-01 9.30118508e-04 1.48379921e+02] [-2.01542662e-01 9.79479717e-01 -1.96972155e-04 -1.70465310e+01] [-9.50730525e-04 5.47158391e-06 9.99999548e-01 -3.65801956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:-17.05, Z:-3.66 [[ 9.79242546e-01 2.02689286e-01 1.04333700e-03 1.48407445e+02] [-2.02689166e-01 9.79243102e-01 -2.20325025e-04 -1.70526920e+01] [-1.06633808e-03 4.27853172e-06 9.99999431e-01 -3.65867601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:-17.06, Z:-3.66 [[ 9.78806183e-01 2.04783449e-01 1.48184108e-03 1.48435059e+02] [-2.04783211e-01 9.78807304e-01 -3.12099688e-04 -1.70574931e+01] [-1.51434973e-03 2.02892906e-06 9.99998853e-01 -3.65867648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:-17.06, Z:-3.66 [[ 9.78818269e-01 2.04725669e-01 1.48191629e-03 1.48462969e+02] [-2.04725432e-01 9.78819391e-01 -3.11740840e-04 -1.70632061e+01] [-1.51434976e-03 1.75167583e-06 9.99998853e-01 -3.65934315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:-17.07, Z:-3.66 [[ 9.77547322e-01 2.10696327e-01 2.87956415e-03 1.48489293e+02] [-2.10695460e-01 9.77551563e-01 -6.04731620e-04 -1.70681720e+01] [-2.94233717e-03 -1.55573181e-05 9.99995671e-01 -3.66044043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:-17.07, Z:-3.66 [[ 9.76921658e-01 2.13581409e-01 2.65639252e-03 1.48516763e+02] [-2.13580683e-01 9.76925269e-01 -5.57527929e-04 -1.70741439e+01] [-2.71417457e-03 -2.26930186e-05 9.99996316e-01 -3.66080777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:-17.08, Z:-3.66 [[ 9.75709925e-01 2.19045010e-01 3.07005288e-03 1.48543382e+02] [-2.19044067e-01 9.75714754e-01 -6.44102094e-04 -1.70767414e+01] [-3.13658324e-03 -4.40200633e-05 9.99995080e-01 -3.66095138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.57, Y:-17.08, Z:-3.66 [[ 9.75254724e-01 2.21056991e-01 3.46850015e-03 1.48570719e+02] [-2.21055803e-01 9.75260890e-01 -7.26911456e-04 -1.70807907e+01] [-3.54338140e-03 -5.78082535e-05 9.99993721e-01 -3.66213764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:-17.09, Z:-3.66 [[ 9.74942414e-01 2.22430510e-01 3.45810737e-03 1.48597608e+02] [-2.22429338e-01 9.74948545e-01 -7.24705263e-04 -1.70863683e+01] [-3.53267330e-03 -6.26386333e-05 9.99993758e-01 -3.66307037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:-17.09, Z:-3.66 [[ 9.74752073e-01 2.23277694e-01 2.33847933e-03 1.48624549e+02] [-2.23277160e-01 9.74754877e-01 -4.90248858e-04 -1.70922664e+01] [-2.38890577e-03 -4.42579320e-05 9.99997146e-01 -3.66378362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:-17.10, Z:-3.67 [[ 9.74618258e-01 2.23871099e-01 9.90517115e-04 1.48652456e+02] [-2.23871003e-01 9.74618762e-01 -2.08623358e-04 -1.70952734e+01] [-1.01208131e-03 -1.84199265e-05 9.99999488e-01 -3.66515316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:-17.10, Z:-3.67 [[ 9.74630239e-01 2.23817967e-01 1.18993305e-03 1.48679715e+02] [-2.23817826e-01 9.74630965e-01 -2.51543013e-04 -1.70982313e+01] [-1.21604544e-03 -2.11668011e-05 9.99999260e-01 -3.66562755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:-17.10, Z:-3.67 [[ 9.74531632e-01 2.24240103e-01 2.11519776e-03 1.48706653e+02] [-2.24239669e-01 9.74533927e-01 -4.43208841e-04 -1.71008242e+01] [-2.16071717e-03 -4.23902099e-05 9.99997665e-01 -3.66574570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.73, Y:-17.10, Z:-3.67 [[ 9.74446165e-01 2.24609748e-01 2.26563321e-03 1.48733906e+02] [-2.24609252e-01 9.74448798e-01 -4.74293005e-04 -1.71049671e+01] [-2.31427439e-03 -4.67091816e-05 9.99997321e-01 -3.66617610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.76, Y:-17.11, Z:-3.67 [[ 9.74415799e-01 2.24743430e-01 2.05936860e-03 1.48761194e+02] [-2.24743020e-01 9.74417974e-01 -4.31370643e-04 -1.71082804e+01] [-2.10363350e-03 -4.24943496e-05 9.99997786e-01 -3.66638383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:-17.11, Z:-3.67 [[ 9.74547529e-01 2.24173744e-01 1.80178798e-03 1.48789791e+02] [-2.24173424e-01 9.74549194e-01 -3.79964527e-04 -1.71091932e+01] [-1.84110910e-03 -3.36194903e-05 9.99998305e-01 -3.66689350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:-17.11, Z:-3.67 [[ 9.74745376e-01 2.23306033e-01 2.42226254e-03 1.48816311e+02] [-2.23305464e-01 9.74748385e-01 -5.06312818e-04 -1.71132153e+01] [-2.47415920e-03 -4.73783816e-05 9.99996938e-01 -3.66745683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:-17.12, Z:-3.67 [[ 9.75095918e-01 2.21760167e-01 3.22166714e-03 1.48843826e+02] [-2.21759149e-01 9.75101238e-01 -6.74317811e-04 -1.71173907e+01] [-3.29098845e-03 -5.69096188e-05 9.99994583e-01 -3.66794937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.87, Y:-17.12, Z:-3.67 [[ 9.76246300e-01 2.16632810e-01 3.65879806e-03 1.48871924e+02] [-2.16631474e-01 9.76253155e-01 -7.62364471e-04 -1.71192479e+01] [-3.73706631e-03 -4.83553216e-05 9.99993016e-01 -3.66871353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:-17.12, Z:-3.67 [[ 9.77072400e-01 2.12878108e-01 3.52643737e-03 1.48899820e+02] [-2.12876843e-01 9.77078763e-01 -7.34651304e-04 -1.71237093e+01] [-3.60199825e-03 -3.28893429e-05 9.99993512e-01 -3.67004328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.93, Y:-17.13, Z:-3.67 [[ 9.79022324e-01 2.03709308e-01 4.21992186e-03 1.48926910e+02] [-2.03707413e-01 9.79031418e-01 -8.78549573e-04 -1.71287805e+01] [-4.31040480e-03 4.90279015e-07 9.99990710e-01 -3.67037082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.95, Y:-17.13, Z:-3.67 [[ 9.80023602e-01 1.98834910e-01 4.29163773e-03 1.48953291e+02] [-1.98832904e-01 9.80032998e-01 -8.93343470e-04 -1.71334213e+01] [-4.38357446e-03 2.21788909e-05 9.99990392e-01 -3.67073952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:-17.14, Z:-3.67 [[ 9.80943092e-01 1.94251359e-01 4.13037960e-03 1.48980396e+02] [-1.94249463e-01 9.80951787e-01 -8.59239980e-04 -1.71386703e+01] [-4.21861179e-03 4.05415022e-05 9.99991101e-01 -3.67121804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.01, Y:-17.15, Z:-3.67 [[ 9.81733948e-01 1.90224113e-01 3.63898336e-03 1.49007760e+02] [-1.90222613e-01 9.81740691e-01 -7.56951640e-04 -1.71451832e+01] [-3.71652849e-03 5.09081979e-05 9.99993092e-01 -3.67155500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:-17.15, Z:-3.67 [[ 9.82702591e-01 1.85156095e-01 3.58294220e-03 1.49033945e+02] [-1.85154608e-01 9.82709121e-01 -7.45275731e-04 -1.71522461e+01] [-3.65898232e-03 6.89861343e-05 9.99993304e-01 -3.67119893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.06, Y:-17.16, Z:-3.67 [[ 9.82923254e-01 1.83970217e-01 4.10315991e-03 1.49061658e+02] [-1.83968260e-01 9.82931815e-01 -8.52640267e-04 -1.71585765e+01] [-4.18998683e-03 8.32287559e-05 9.99991219e-01 -3.67123260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:-17.17, Z:-3.67 [[ 9.83102728e-01 1.82998630e-01 4.53068922e-03 1.49087671e+02] [-1.82996235e-01 9.83113163e-01 -9.41181833e-04 -1.71663291e+01] [-4.62641519e-03 9.61793574e-05 9.99989293e-01 -3.67146891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:-17.17, Z:-3.67 [[ 9.83089851e-01 1.83062180e-01 4.75211754e-03 1.49115483e+02] [-1.83059550e-01 9.83101332e-01 -9.86437677e-04 -1.71725053e+01] [-4.85239251e-03 9.98363714e-05 9.99988222e-01 -3.67157462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:-17.18, Z:-3.67 [[ 9.82864223e-01 1.84257359e-01 5.21015494e-03 1.49141731e+02] [-1.84254212e-01 9.82878026e-01 -1.08187986e-03 -1.71775328e+01] [-5.32029113e-03 1.03348011e-04 9.99985842e-01 -3.67221259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:-17.18, Z:-3.67 [[ 9.82658366e-01 1.85354498e-01 5.12296439e-03 1.49168835e+02] [-1.85351479e-01 9.82671716e-01 -1.06222808e-03 -1.71846932e+01] [-5.23108096e-03 9.42582830e-05 9.99986313e-01 -3.67273029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:-17.19, Z:-3.67 [[ 9.82446115e-01 1.86479449e-01 5.00455429e-03 1.49195287e+02] [-1.86476583e-01 9.82458858e-01 -1.03755503e-03 -1.71922095e+01] [-5.11025139e-03 8.61097263e-05 9.99986939e-01 -3.67354633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:-17.20, Z:-3.67 [[ 9.82195573e-01 1.87802890e-01 4.68308265e-03 1.49222254e+02] [-1.87800397e-01 9.82206734e-01 -9.70394278e-04 -1.72001174e+01] [-4.78199817e-03 7.36321818e-05 9.99988563e-01 -3.67410624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:-17.21, Z:-3.67 [[ 9.81612965e-01 1.90816539e-01 5.00347994e-03 1.49248249e+02] [-1.90813734e-01 9.81625715e-01 -1.03650917e-03 -1.72093096e+01] [-5.10932766e-03 6.27181535e-05 9.99986945e-01 -3.67459260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:-17.22, Z:-3.68 [[ 9.81307131e-01 1.92383064e-01 5.00722892e-03 1.49275470e+02] [-1.92380279e-01 9.81319904e-01 -1.03659079e-03 -1.72167990e+01] [-5.11311592e-03 5.39218388e-05 9.99986926e-01 -3.67543830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:-17.22, Z:-3.68 [[ 9.80970581e-01 1.94108016e-01 4.33559625e-03 1.49302744e+02] [-1.94105945e-01 9.80980161e-01 -8.97486400e-04 -1.72247697e+01] [-4.42734321e-03 3.88427466e-05 9.99990199e-01 -3.67614555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:-17.23, Z:-3.68 [[ 9.80140995e-01 1.98287512e-01 2.38611169e-03 1.49329576e+02] [-1.98286895e-01 9.80143899e-01 -4.94548668e-04 -1.72346438e+01] [-2.43679564e-03 1.15927444e-05 9.99997031e-01 -3.67683339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-17.24, Z:-3.68 [[ 9.79669817e-01 2.00598613e-01 2.69201293e-03 1.49356232e+02] [-2.00597838e-01 9.79673515e-01 -5.57517612e-04 -1.72416865e+01] [-2.74913103e-03 6.17120196e-06 9.99996221e-01 -3.67768111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:-17.25, Z:-3.68 [[ 9.78773414e-01 2.04916069e-01 3.46541311e-03 1.49382520e+02] [-2.04914815e-01 9.78779549e-01 -7.16937091e-04 -1.72519804e+01] [-3.53878741e-03 -8.39552228e-06 9.99993738e-01 -3.67761345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:-17.26, Z:-3.68 [[ 9.78391368e-01 2.06732337e-01 3.47456366e-03 1.49408511e+02] [-2.06731088e-01 9.78397537e-01 -7.18805795e-04 -1.72609434e+01] [-3.54810493e-03 -1.50269411e-05 9.99993705e-01 -3.67811493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.43, Y:-17.27, Z:-3.68 [[ 9.77835340e-01 2.09352499e-01 3.09489549e-03 1.49434955e+02] [-2.09351522e-01 9.77840238e-01 -6.39957335e-04 -1.72720948e+01] [-3.16029001e-03 -2.21481816e-05 9.99995006e-01 -3.67824018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:-17.28, Z:-3.68 [[ 9.77703072e-01 2.09975147e-01 2.67228763e-03 1.49461685e+02] [-2.09974420e-01 9.77706724e-01 -5.52600325e-04 -1.72794347e+01] [-2.72874591e-03 -2.08330106e-05 9.99996277e-01 -3.67850168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:-17.29, Z:-3.68 [[ 9.77577053e-01 2.10557647e-01 2.92983320e-03 1.49488139e+02] [-2.10556777e-01 9.77581443e-01 -6.05712649e-04 -1.72867267e+01] [-2.99168800e-03 -2.47654500e-05 9.99995525e-01 -3.67876128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.52, Y:-17.29, Z:-3.68 [[ 9.77461886e-01 2.11086185e-01 3.29903739e-03 1.49515087e+02] [-2.11085088e-01 9.77467453e-01 -6.81178729e-04 -1.72943844e+01] [-3.36848909e-03 -3.05513524e-05 9.99994326e-01 -3.67913832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:-17.30, Z:-3.68 [[ 9.77335558e-01 2.11655149e-01 4.15982754e-03 1.49541798e+02] [-2.11653413e-01 9.77344410e-01 -8.58190802e-04 -1.73024524e+01] [-4.24722470e-03 -4.17013115e-05 9.99990980e-01 -3.67925437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.57, Y:-17.31, Z:-3.68 [[ 9.76845023e-01 2.13916359e-01 3.68680824e-03 1.49568001e+02] [-2.13915012e-01 9.76851979e-01 -7.60594038e-04 -1.73134004e+01] [-3.76416943e-03 -4.56811280e-05 9.99992914e-01 -3.68003381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:-17.32, Z:-3.68 [[ 9.76559821e-01 2.15205566e-01 4.18088183e-03 1.49594246e+02] [-2.15203846e-01 9.76568769e-01 -8.62196620e-04 -1.73212636e+01] [-4.26846813e-03 -5.77552726e-05 9.99990888e-01 -3.67946580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.62, Y:-17.33, Z:-3.68 [[ 9.75777411e-01 2.18730748e-01 3.91212772e-03 1.49620110e+02] [-2.18729269e-01 9.75785251e-01 -8.07157077e-04 -1.73301497e+01] [-3.99394660e-03 -6.80911934e-05 9.99992022e-01 -3.68063450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:-17.34, Z:-3.68 [[ 9.75377119e-01 2.20518293e-01 3.34035117e-03 1.49647266e+02] [-2.20517228e-01 9.75382837e-01 -6.88245016e-04 -1.73369888e+01] [-3.40989181e-03 -6.53065399e-05 9.99994184e-01 -3.68123440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-17.34, Z:-3.68 [[ 9.74916737e-01 2.22553659e-01 2.68796156e-03 1.49673942e+02] [-2.22552976e-01 9.74920441e-01 -5.54193820e-04 -1.73427004e+01] [-2.74388653e-03 -5.79210134e-05 9.99996234e-01 -3.68161334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-17.35, Z:-3.68 [[ 9.74194204e-01 2.25698967e-01 2.37246384e-03 1.49701120e+02] [-2.25698445e-01 9.74197091e-01 -4.88964297e-04 -1.73478587e+01] [-2.42160611e-03 -5.91152149e-05 9.99997066e-01 -3.68267211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:-17.36, Z:-3.68 [[ 9.74066276e-01 2.26248128e-01 2.58346110e-03 1.49727912e+02] [-2.26247512e-01 9.74069700e-01 -5.32127367e-04 -1.73555535e+01] [-2.63686400e-03 -6.61743238e-05 9.99996521e-01 -3.68316303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:-17.36, Z:-3.68 [[ 9.74042125e-01 2.26352123e-01 2.57971584e-03 1.49753895e+02] [-2.26351508e-01 9.74045539e-01 -5.31408680e-04 -1.73643818e+01] [-2.63304618e-03 -6.63081308e-05 9.99996531e-01 -3.68306024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:-17.37, Z:-3.68 [[ 9.73878486e-01 2.27053430e-01 2.72677973e-03 1.49780292e+02] [-2.27052748e-01 9.73882300e-01 -5.61078122e-04 -1.73736674e+01] [-2.78295722e-03 -7.27009179e-05 9.99996125e-01 -3.68288898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:-17.38, Z:-3.68 [[ 9.73811348e-01 2.27332018e-01 3.40776892e-03 1.49806864e+02] [-2.27330957e-01 9.73817306e-01 -7.00751486e-04 -1.73796194e+01] [-3.47784760e-03 -9.22916220e-05 9.99993948e-01 -3.68319621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:-17.39, Z:-3.68 [[ 9.73752717e-01 2.27571612e-01 4.09974141e-03 1.49833762e+02] [-2.27570083e-01 9.73761341e-01 -8.42039670e-04 -1.73855301e+01] [-4.18379402e-03 -1.13040075e-04 9.99991242e-01 -3.68339736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:-17.39, Z:-3.68 [[ 9.73622312e-01 2.28127818e-01 4.15833749e-03 1.49860828e+02] [-2.28126250e-01 9.73631185e-01 -8.53961587e-04 -1.73900308e+01] [-4.24349946e-03 -1.17189885e-04 9.99990989e-01 -3.68422439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:-17.39, Z:-3.68 [[ 9.73521663e-01 2.28565969e-01 3.62897385e-03 1.49888934e+02] [-2.28564778e-01 9.73528421e-01 -7.45013810e-04 -1.73946245e+01] [-3.70319398e-03 -1.04168519e-04 9.99993138e-01 -3.68480589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:-17.40, Z:-3.69 [[ 9.73408083e-01 2.29049401e-01 3.61592552e-03 1.49915411e+02] [-2.29048223e-01 9.73414794e-01 -7.42304866e-04 -1.73995816e+01] [-3.68981988e-03 -1.05655756e-04 9.99993187e-01 -3.68559928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.94, Y:-17.41, Z:-3.69 [[ 9.73249254e-01 2.29730655e-01 3.11708585e-03 1.49943018e+02] [-2.29729784e-01 9.73254241e-01 -6.39688367e-04 -1.74054998e+01] [-3.18067305e-03 -9.35112331e-05 9.99994937e-01 -3.68604120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:-17.41, Z:-3.69 [[ 9.72982535e-01 2.30864964e-01 2.52104610e-03 1.49969388e+02] [-2.30864397e-01 9.72985798e-01 -5.17761343e-04 -1.74090848e+01] [-2.57247501e-03 -7.82470443e-05 9.99996688e-01 -3.68677835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:-17.41, Z:-3.69 [[ 9.72920232e-01 2.31128257e-01 2.43934443e-03 1.49996480e+02] [-2.31127725e-01 9.72923287e-01 -5.01483783e-04 -1.74119663e+01] [-2.48920208e-03 -7.58964109e-05 9.99996899e-01 -3.68767106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:-17.41, Z:-3.69 [[ 9.72940125e-01 2.31039548e-01 2.87064978e-03 1.50025130e+02] [-2.31038817e-01 9.72944355e-01 -5.88415156e-04 -1.74121526e+01] [-2.92892967e-03 -9.07388130e-05 9.99995707e-01 -3.68799130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:-17.41, Z:-3.69 [[ 9.73100728e-01 2.30357514e-01 3.22312539e-03 1.50051934e+02] [-2.30356586e-01 9.73106061e-01 -6.61133553e-04 -1.74148858e+01] [-3.28873994e-03 -9.91186215e-05 9.99994587e-01 -3.68853302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:-17.42, Z:-3.69 [[ 9.73320440e-01 2.29432121e-01 2.86760903e-03 1.50080034e+02] [-2.29431386e-01 9.73324660e-01 -5.87167114e-04 -1.74173060e+01] [-2.92582958e-03 -8.64177598e-05 9.99995716e-01 -3.68952702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:-17.42, Z:-3.69 [[ 9.73914984e-01 2.26898802e-01 2.55696723e-03 1.50108688e+02] [-2.26898209e-01 9.73918338e-01 -5.23561810e-04 -1.74175943e+01] [-2.60907282e-03 -7.02665931e-05 9.99996594e-01 -3.69056110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:-17.42, Z:-3.69 [[ 9.73928331e-01 2.26841502e-01 2.55705282e-03 1.50136627e+02] [-2.26840910e-01 9.73931686e-01 -5.23142623e-04 -1.74231661e+01] [-2.60906522e-03 -7.05407659e-05 9.99996594e-01 -3.69122777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:-17.43, Z:-3.69 [[ 9.74275443e-01 2.25351524e-01 2.01304069e-03 1.50163002e+02] [-2.25351153e-01 9.74277521e-01 -4.12523074e-04 -1.74265040e+01] [-2.05422299e-03 -5.17299396e-05 9.99997889e-01 -3.69129558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.19, Y:-17.43, Z:-3.69 [[ 9.74576805e-01 2.24043284e-01 2.15801966e-03 1.50191105e+02] [-2.24042855e-01 9.74579193e-01 -4.41642572e-04 -1.74299707e+01] [-2.20210811e-03 -5.30742805e-05 9.99997574e-01 -3.69352323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:-17.43, Z:-3.69 [[ 9.75059104e-01 2.21932788e-01 2.36269807e-03 1.50219539e+02] [-2.21932268e-01 9.75061965e-01 -4.83198870e-04 -1.74298736e+01] [-2.41101469e-03 -5.32114845e-05 9.99997092e-01 -3.69182961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.25, Y:-17.43, Z:-3.69 [[ 9.75237951e-01 2.21150197e-01 1.87855273e-03 1.50246985e+02] [-2.21149864e-01 9.75239760e-01 -3.85646407e-04 -1.74313063e+01] [-1.91732509e-03 -3.93446695e-05 9.99998161e-01 -3.69253578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:-17.43, Z:-3.69 [[ 9.75373298e-01 2.20556683e-01 1.29589447e-03 1.50274957e+02] [-2.20556525e-01 9.75374158e-01 -2.65573928e-04 -1.74327803e+01] [-1.32255608e-03 -2.67842627e-05 9.99999125e-01 -3.69321816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:-17.43, Z:-3.69 [[ 9.75582714e-01 2.19628025e-01 1.37778262e-03 1.50303285e+02] [-2.19627845e-01 9.75583687e-01 -2.82405207e-04 -1.74303435e+01] [-1.40616634e-03 -2.70897887e-05 9.99999011e-01 -3.69388127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:-17.43, Z:-3.69 [[ 9.75675226e-01 2.19214332e-01 1.71187319e-03 1.50331075e+02] [-2.19214055e-01 9.75676727e-01 -3.49986497e-04 -1.74318236e+01] [-1.74695689e-03 -3.37935103e-05 9.99998473e-01 -3.69404868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:-17.43, Z:-3.69 [[ 9.75884662e-01 2.18279388e-01 1.79875838e-03 1.50359111e+02] [-2.18279081e-01 9.75886319e-01 -3.67781139e-04 -1.74292613e+01] [-1.83566274e-03 -3.37193528e-05 9.99998315e-01 -3.69447513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:-17.43, Z:-3.70 [[ 9.76025537e-01 2.17651339e-01 1.43044670e-03 1.50387308e+02] [-2.17651144e-01 9.76026585e-01 -2.92452177e-04 -1.74314301e+01] [-1.45980662e-03 -2.58975682e-05 9.99998934e-01 -3.69514149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:-17.43, Z:-3.70 [[ 9.76231377e-01 2.16728396e-01 1.04887211e-03 1.50414979e+02] [-2.16728290e-01 9.76231941e-01 -2.14812296e-04 -1.74336641e+01] [-1.07049838e-03 -1.76137557e-05 9.99999427e-01 -3.69521362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:-17.44, Z:-3.70 [[ 9.76437751e-01 2.15795420e-01 1.28633023e-03 1.50443495e+02] [-2.15795260e-01 9.76438598e-01 -2.62984980e-04 -1.74357492e+01] [-1.31277344e-03 -2.07955047e-05 9.99999138e-01 -3.69597814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:-17.43, Z:-3.70 [[ 9.77087895e-01 2.12833682e-01 1.03401579e-03 1.50472097e+02] [-2.12833574e-01 9.77088442e-01 -2.14542754e-04 -1.74336210e+01] [-1.05598680e-03 -1.04461472e-05 9.99999442e-01 -3.69621088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:-17.44, Z:-3.70 [[ 9.77580123e-01 2.10558622e-01 1.47303830e-03 1.50498816e+02] [-2.10558407e-01 9.77581233e-01 -3.00841407e-04 -1.74352686e+01] [-1.50335935e-03 -1.60640195e-05 9.99998870e-01 -3.69682386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:-17.44, Z:-3.70 [[ 9.78112685e-01 2.08065715e-01 2.05758601e-03 1.50525711e+02] [-2.08065293e-01 9.78114849e-01 -4.19189538e-04 -1.74372202e+01] [-2.09977440e-03 -1.80976321e-05 9.99997795e-01 -3.69721932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:-17.44, Z:-3.70 [[ 9.78764381e-01 2.04970742e-01 2.69844727e-03 1.50553491e+02] [-2.04970001e-01 9.78768101e-01 -5.51126708e-04 -1.74393733e+01] [-2.75411896e-03 -1.36775490e-05 9.99996207e-01 -3.69779140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.58, Y:-17.44, Z:-3.70 [[ 9.80071560e-01 1.98625234e-01 2.78443429e-03 1.50581643e+02] [-1.98624429e-01 9.80075516e-01 -5.65554371e-04 -1.74404528e+01] [-2.84128925e-03 1.22708311e-06 9.99995964e-01 -3.69885142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:-17.45, Z:-3.70 [[ 9.80710460e-01 1.95452612e-01 2.29549338e-03 1.50607807e+02] [-1.95452055e-01 9.80713147e-01 -4.66628346e-04 -1.74450700e+01] [-2.34242427e-03 8.96840019e-06 9.99997256e-01 -3.69978283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.63, Y:-17.45, Z:-3.70 [[ 9.81691252e-01 1.90468134e-01 2.04354654e-03 1.50634872e+02] [-1.90467681e-01 9.81693379e-01 -4.15419134e-04 -1.74487226e+01] [-2.08526021e-03 1.85837591e-05 9.99997826e-01 -3.70084661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:-17.45, Z:-3.70 [[ 9.82004138e-01 1.88845747e-01 2.27066894e-03 1.50662329e+02] [-1.88845186e-01 9.82006763e-01 -4.60895777e-04 -1.74527425e+01] [-2.31685046e-03 2.37966634e-05 9.99997316e-01 -3.70071042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:-17.46, Z:-3.70 [[ 9.82231299e-01 1.87667536e-01 1.60327893e-03 1.50690620e+02] [-1.87667254e-01 9.82232608e-01 -3.25825518e-04 -1.74558855e+01] [-1.63593971e-03 1.91530685e-05 9.99998662e-01 -3.70128053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:-17.46, Z:-3.70 [[ 9.82174484e-01 1.87970820e-01 5.04447006e-04 1.50716878e+02] [-1.87970792e-01 9.82174613e-01 -1.03940042e-04 -1.74599469e+01] [-5.14992738e-04 7.26595359e-06 9.99999867e-01 -3.70198428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:-17.46, Z:-3.70 [[ 9.82007723e-01 1.88840729e-01 1.00161821e-04 1.50744295e+02] [-1.88840728e-01 9.82007729e-01 -2.46902722e-05 -1.74639205e+01] [-1.03022212e-04 5.33140683e-06 9.99999995e-01 -3.70286173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:-17.47, Z:-3.70 [[ 9.81757333e-01 1.90137962e-01 -3.07356390e-04 1.50772034e+02] [-1.90137954e-01 9.81757381e-01 5.73158623e-05 -1.74677118e+01] [ 3.12647326e-04 2.16984700e-06 9.99999951e-01 -3.70358500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:-17.47, Z:-3.70 [[ 9.81111463e-01 1.93441091e-01 -9.16883619e-04 1.50800424e+02] [-1.93441007e-01 9.81111892e-01 1.80058925e-04 -1.74707948e+01] [ 9.34396216e-04 7.05015608e-07 9.99999563e-01 -3.70439346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:-17.48, Z:-3.70 [[ 9.80822618e-01 1.94902478e-01 -1.26801797e-04 1.50828384e+02] [-1.94902477e-01 9.80822626e-01 2.08726861e-05 -1.74756392e+01] [ 1.28438210e-04 4.24158170e-06 9.99999992e-01 -3.70487387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:-17.48, Z:-3.70 [[ 9.80528175e-01 1.96375063e-01 1.15467728e-03 1.50854832e+02] [-1.96374922e-01 9.80528854e-01 -2.35389947e-04 -1.74800449e+01] [-1.17841911e-03 4.05681317e-06 9.99999306e-01 -3.70486025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:-17.48, Z:-3.71 [[ 9.80097300e-01 1.98495511e-01 2.96896140e-03 1.50881400e+02] [-1.98494605e-01 9.80101797e-01 -5.99797072e-04 -1.74841353e+01] [-3.02894143e-03 -1.46332958e-06 9.99995413e-01 -3.70542897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:-17.49, Z:-3.71 [[ 9.80151931e-01 1.98224333e-01 3.05064690e-03 1.50909138e+02] [-1.98223373e-01 9.80156678e-01 -6.17037057e-04 -1.74902041e+01] [-3.11242369e-03 8.05456117e-08 9.99995156e-01 -3.70572051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:-17.50, Z:-3.71 [[ 9.80427469e-01 1.96843401e-01 3.82809866e-03 1.50937021e+02] [-1.96841886e-01 9.80434942e-01 -7.72380570e-04 -1.74953500e+01] [-3.90523971e-03 3.73296660e-06 9.99992375e-01 -3.70531898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:-17.50, Z:-3.71 [[ 9.80558257e-01 1.96187989e-01 3.97212575e-03 1.50964384e+02] [-1.96186355e-01 9.80566302e-01 -8.00596618e-04 -1.74995438e+01] [-4.05200010e-03 5.75475126e-06 9.99991791e-01 -3.70595281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:-17.50, Z:-3.71 [[ 9.80697798e-01 1.95498047e-01 3.51306212e-03 1.50990541e+02] [-1.95496774e-01 9.80704091e-01 -7.05644154e-04 -1.75044055e+01] [-3.58322645e-03 5.23135723e-06 9.99993580e-01 -3.70677220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:-17.51, Z:-3.71 [[ 9.80748711e-01 1.95260207e-01 2.32738545e-03 1.51016477e+02] [-1.95259646e-01 9.80751473e-01 -4.67896537e-04 -1.75129358e+01] [-2.37394829e-03 4.44446583e-06 9.99997182e-01 -3.70775623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:-17.52, Z:-3.71 [[ 9.80684694e-01 1.95588538e-01 1.62933276e-03 1.51044187e+02] [-1.95588260e-01 9.80686047e-01 -3.30212668e-04 -1.75192251e+01] [-1.66244971e-03 5.15615114e-06 9.99998618e-01 -3.70820008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:-17.52, Z:-3.71 [[ 9.80500437e-01 1.96512977e-01 1.24245374e-03 1.51070174e+02] [-1.96512818e-01 9.80501224e-01 -2.50412465e-04 -1.75245721e+01] [-1.26743672e-03 1.37144540e-06 9.99999197e-01 -3.70922971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:-17.53, Z:-3.71 [[ 9.80312756e-01 1.97449198e-01 8.44789992e-04 1.51097281e+02] [-1.97449122e-01 9.80313120e-01 -1.73445847e-04 -1.75299707e+01] [-8.62405457e-04 3.22813468e-06 9.99999628e-01 -3.70977258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:-17.54, Z:-3.71 [[ 9.79587035e-01 2.01018435e-01 9.10275211e-04 1.51124044e+02] [-2.01018351e-01 9.79587458e-01 -1.83773525e-04 -1.75358632e+01] [-9.28636047e-04 -2.95986003e-06 9.99999569e-01 -3.71034711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:-17.54, Z:-3.71 [[ 9.79186912e-01 2.02956220e-01 1.32848923e-03 1.51151996e+02] [-2.02956042e-01 9.79187813e-01 -2.69524484e-04 -1.75407162e+01] [-1.35554214e-03 -5.71006964e-06 9.99999081e-01 -3.71055067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:-17.55, Z:-3.71 [[ 9.78263625e-01 2.07356060e-01 1.93508200e-03 1.51179046e+02] [-2.07355694e-01 9.78265539e-01 -3.90120444e-04 -1.75459902e+01] [-1.97391788e-03 -1.96096312e-05 9.99998052e-01 -3.71146743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.21, Y:-17.55, Z:-3.71 [[ 9.77908665e-01 2.09021903e-01 2.11820186e-03 1.51206227e+02] [-2.09021470e-01 9.77910959e-01 -4.26232215e-04 -1.75517356e+01] [-2.16050468e-03 -2.59334908e-05 9.99997666e-01 -3.71208328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:-17.56, Z:-3.71 [[ 9.77597296e-01 2.10469723e-01 2.45407058e-03 1.51233348e+02] [-2.10469150e-01 9.77600376e-01 -4.92593150e-04 -1.75574795e+01] [-2.50277627e-03 -3.49484175e-05 9.99996867e-01 -3.71264060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.26, Y:-17.56, Z:-3.71 [[ 9.77186870e-01 2.12344024e-01 3.97940534e-03 1.51260303e+02] [-2.12342556e-01 9.77194971e-01 -7.92862578e-04 -1.75621798e+01] [-4.05701451e-03 -7.02221981e-05 9.99991768e-01 -3.71260866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:-17.57, Z:-3.71 [[ 9.77217061e-01 2.12183627e-01 4.99242808e-03 1.51288053e+02] [-2.12181308e-01 9.77229810e-01 -9.95829421e-04 -1.75669373e+01] [-5.09004824e-03 -8.61584179e-05 9.99987042e-01 -3.71317197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:-17.57, Z:-3.71 [[ 9.77258068e-01 2.11983785e-01 5.43543671e-03 1.51314926e+02] [-2.11981052e-01 9.77273179e-01 -1.08063155e-03 -1.75724518e+01] [-5.54098288e-03 -9.61536947e-05 9.99984644e-01 -3.71315249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:-17.58, Z:-3.71 [[ 9.77684778e-01 2.09988758e-01 6.09880775e-03 1.51341201e+02] [-2.09985284e-01 9.77703796e-01 -1.21165832e-03 -1.75792749e+01] [-6.21726211e-03 -9.60399832e-05 9.99980668e-01 -3.71378671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:-17.59, Z:-3.71 [[ 9.78081268e-01 2.08121705e-01 6.51067904e-03 1.51367994e+02] [-2.08117697e-01 9.78102933e-01 -1.29466936e-03 -1.75860586e+01] [-6.63756306e-03 -8.86956776e-05 9.99977967e-01 -3.71433328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:-17.59, Z:-3.72 [[ 9.78552523e-01 2.05876580e-01 7.05643706e-03 1.51394256e+02] [-2.05871839e-01 9.78577962e-01 -1.39962075e-03 -1.75926569e+01] [-7.19342292e-03 -8.31192578e-05 9.99974124e-01 -3.71508353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.42, Y:-17.60, Z:-3.72 [[ 9.79035348e-01 2.03568590e-01 7.04391119e-03 1.51421772e+02] [-2.03563798e-01 9.79060685e-01 -1.39830912e-03 -1.75992264e+01] [-7.18106833e-03 -6.48912527e-05 9.99974214e-01 -3.71574880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:-17.61, Z:-3.72 [[ 9.79915722e-01 1.99292684e-01 6.89958533e-03 1.51447139e+02] [-1.99288002e-01 9.79940011e-01 -1.36657966e-03 -1.76076423e+01] [-7.03352905e-03 -3.58716801e-05 9.99975264e-01 -3.71659397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:-17.62, Z:-3.72 [[ 9.80292583e-01 1.97408951e-01 7.49389117e-03 1.51474213e+02] [-1.97403380e-01 9.80321226e-01 -1.48331253e-03 -1.76154809e+01] [-7.63923974e-03 -2.52391733e-05 9.99970820e-01 -3.71714994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:-17.62, Z:-3.72 [[ 9.80602914e-01 1.95845153e-01 7.91202345e-03 1.51500693e+02] [-1.95838896e-01 9.80634833e-01 -1.56556077e-03 -1.76228237e+01] [-8.06541329e-03 -1.42884921e-05 9.99967474e-01 -3.71740145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:-17.63, Z:-3.72 [[ 9.80588705e-01 1.95965792e-01 6.57264210e-03 1.51526838e+02] [-1.95961479e-01 9.80610732e-01 -1.30029714e-03 -1.76298626e+01] [-6.70001714e-03 -1.29279774e-05 9.99977555e-01 -3.71755212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:-17.64, Z:-3.72 [[ 9.80263369e-01 1.97597422e-01 6.24386450e-03 1.51554663e+02] [-1.97593567e-01 9.80283254e-01 -1.23459996e-03 -1.76354577e+01] [-6.36470958e-03 -2.35143395e-05 9.99979745e-01 -3.71805541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:-17.64, Z:-3.72 [[ 9.79171407e-01 2.02898965e-01 7.44086220e-03 1.51580834e+02] [-2.02893648e-01 9.79199676e-01 -1.47059972e-03 -1.76399385e+01] [-7.58447301e-03 -6.97344842e-05 9.99971235e-01 -3.71884735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:-17.64, Z:-3.72 [[ 9.78528799e-01 2.05971543e-01 7.55724327e-03 1.51607962e+02] [-2.05966156e-01 9.78557977e-01 -1.49273545e-03 -1.76447219e+01] [-7.70266171e-03 -9.58517197e-05 9.99970329e-01 -3.71936850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:-17.65, Z:-3.72 [[ 9.77929956e-01 2.08807334e-01 7.24563001e-03 1.51635992e+02] [-2.08802449e-01 9.77956791e-01 -1.43263300e-03 -1.76494881e+01] [-7.38505736e-03 -1.11890563e-04 9.99972724e-01 -3.72066378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.66, Y:-17.65, Z:-3.72 [[ 9.76819046e-01 2.13966522e-01 6.54817131e-03 1.51662993e+02] [-2.13962666e-01 9.76840984e-01 -1.29207880e-03 -1.76530944e+01] [-6.67298371e-03 -1.38937010e-04 9.99977726e-01 -3.72252589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:-17.66, Z:-3.72 [[ 9.76444291e-01 2.15688909e-01 5.90260993e-03 1.51690005e+02] [-2.15685809e-01 9.76462122e-01 -1.16438045e-03 -1.76576778e+01] [-6.01481897e-03 -1.36156551e-04 9.99981902e-01 -3.72365522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:-17.66, Z:-3.72 [[ 9.76342073e-01 2.16167214e-01 5.28133915e-03 1.51717425e+02] [-2.16164741e-01 9.76356349e-01 -1.04136542e-03 -1.76620256e+01] [-5.38157807e-03 -1.24910435e-04 9.99985511e-01 -3.72476272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:-17.67, Z:-3.73 [[ 9.76486261e-01 2.15528401e-01 4.70012247e-03 1.51743680e+02] [-2.15526435e-01 9.76497566e-01 -9.26823264e-04 -1.76659154e+01] [-4.78941489e-03 -1.07970456e-04 9.99988525e-01 -3.72547627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:-17.67, Z:-3.73 [[ 9.76660848e-01 2.14734322e-01 4.77061722e-03 1.51770107e+02] [-2.14732290e-01 9.76672493e-01 -9.40286239e-04 -1.76707497e+01] [-4.86124234e-03 -1.06064804e-04 9.99988178e-01 -3.72591753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.80, Y:-17.68, Z:-3.73 [[ 9.76835465e-01 2.13937438e-01 4.82154786e-03 1.51798089e+02] [-2.13935345e-01 9.76847359e-01 -9.51831972e-04 -1.76754164e+01] [-4.91354879e-03 -1.01716278e-04 9.99987923e-01 -3.72625960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:-17.68, Z:-3.73 [[ 9.76984513e-01 2.13240319e-01 5.46144372e-03 1.51824948e+02] [-2.13237641e-01 9.76999771e-01 -1.07468269e-03 -1.76764147e+01] [-5.56499495e-03 -1.14637032e-04 9.99984509e-01 -3.72661884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.85, Y:-17.68, Z:-3.73 [[ 9.77059077e-01 2.12879497e-01 6.15465419e-03 1.51852675e+02] [-2.12876084e-01 9.77078453e-01 -1.21209881e-03 -1.76794825e+01] [-6.27161098e-03 -1.25886535e-04 9.99980325e-01 -3.72706144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:-17.68, Z:-3.73 [[ 9.77213883e-01 2.12138153e-01 7.10145751e-03 1.51880577e+02] [-2.12133602e-01 9.77239676e-01 -1.39685888e-03 -1.76807690e+01] [-7.23615309e-03 -1.41427865e-04 9.99973809e-01 -3.72783647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.91, Y:-17.69, Z:-3.73 [[ 9.77252973e-01 2.11957995e-01 7.10177259e-03 1.51908549e+02] [-2.11953450e-01 9.77278767e-01 -1.39525307e-03 -1.76860652e+01] [-7.23614660e-03 -1.41729997e-04 9.99973809e-01 -3.72850290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:-17.69, Z:-3.73 [[ 9.77302369e-01 2.11732246e-01 7.03813692e-03 1.51936233e+02] [-2.11727784e-01 9.77327702e-01 -1.38163209e-03 -1.76888510e+01] [-7.17110225e-03 -1.39896825e-04 9.99974278e-01 -3.72899102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:-17.69, Z:-3.73 [[ 9.77290045e-01 2.11790131e-01 7.00769709e-03 1.51963307e+02] [-2.11785733e-01 9.77315159e-01 -1.37241899e-03 -1.76911974e+01] [-7.13939340e-03 -1.42878842e-04 9.99974504e-01 -3.72954480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:-17.69, Z:-3.73 [[ 9.77258176e-01 2.11935002e-01 7.07189349e-03 1.51990920e+02] [-2.11930520e-01 9.77283753e-01 -1.38586243e-03 -1.76932096e+01] [-7.20495937e-03 -1.44404668e-04 9.99974034e-01 -3.73017489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:-17.69, Z:-3.73 [[ 9.77050727e-01 2.12857522e-01 7.97194401e-03 1.52019576e+02] [-2.12851870e-01 9.77083234e-01 -1.56059656e-03 -1.76915440e+01] [-8.12143755e-03 -1.72061184e-04 9.99967006e-01 -3.73030187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:-17.69, Z:-3.73 [[ 9.76912626e-01 2.13493325e-01 7.89434600e-03 1.52046666e+02] [-2.13487830e-01 9.76944506e-01 -1.54205252e-03 -1.76935786e+01] [-8.04155588e-03 -1.78896227e-04 9.99967650e-01 -3.73082421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:-17.69, Z:-3.73 [[ 9.77014455e-01 2.13043838e-01 7.42145049e-03 1.52074678e+02] [-2.13038973e-01 9.77042628e-01 -1.44911151e-03 -1.76923792e+01] [-7.55979777e-03 -1.65255303e-04 9.99971411e-01 -3.73179273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:152.10, Y:-17.69, Z:-3.73 [[ 9.77336359e-01 2.11552374e-01 7.69634900e-03 1.52103060e+02] [-2.11547089e-01 9.77366650e-01 -1.50377751e-03 -1.76941312e+01] [-7.84028254e-03 -1.58443792e-04 9.99969252e-01 -3.73436643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:-17.70, Z:-3.73 [[ 9.77841610e-01 2.09221059e-01 7.23423928e-03 1.52131310e+02] [-2.09216334e-01 9.77868361e-01 -1.41234784e-03 -1.76961010e+01] [-7.36962661e-03 -1.32468534e-04 9.99972835e-01 -3.73415083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:-17.69, Z:-3.73 [[ 9.79101815e-01 2.03216848e-01 7.90873111e-03 1.52159325e+02] [-2.03211036e-01 9.79133751e-01 -1.54019165e-03 -1.76947735e+01] [-8.05669845e-03 -9.91369960e-05 9.99967539e-01 -3.73442460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-17.70, Z:-3.74 [[ 9.79939219e-01 1.99115689e-01 8.48934344e-03 1.52186974e+02] [-1.99108831e-01 9.79975988e-01 -1.65403920e-03 -1.76971777e+01] [-8.64869788e-03 -6.94453701e-05 9.99962597e-01 -3.73503345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.21, Y:-17.70, Z:-3.74 [[ 9.80833679e-01 1.94652036e-01 8.71086526e-03 1.52214109e+02] [-1.94644671e-01 9.80872359e-01 -1.69361284e-03 -1.77009206e+01] [-8.87391214e-03 -3.43709913e-05 9.99960625e-01 -3.73710965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:-17.71, Z:-3.74 [[ 9.82615829e-01 1.85479713e-01 7.96298516e-03 1.52241635e+02] [-1.85473247e-01 9.82648093e-01 -1.54939843e-03 -1.77068999e+01] [-8.11219416e-03 4.55427070e-05 9.99967095e-01 -3.73779861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:-17.71, Z:-3.74 [[ 9.83373574e-01 1.81425131e-01 7.83172966e-03 1.52268703e+02] [-1.81418760e-01 9.83404757e-01 -1.52232100e-03 -1.77127637e+01] [-7.97794749e-03 7.61875549e-05 9.99968173e-01 -3.73804249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:-17.72, Z:-3.74 [[ 9.83987032e-01 1.78042909e-01 8.38117977e-03 1.52294805e+02] [-1.78035522e-01 9.84022719e-01 -1.62540761e-03 -1.77176760e+01] [-8.53666360e-03 1.07232294e-04 9.99963556e-01 -3.73860793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:-17.72, Z:-3.74 [[ 9.84431626e-01 1.75550780e-01 8.73484313e-03 1.52321078e+02] [-1.75542666e-01 9.84470368e-01 -1.69309617e-03 -1.77221173e+01] [-8.89641858e-03 1.33399771e-04 9.99960417e-01 -3.73874857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:-17.73, Z:-3.74 [[ 9.85008891e-01 1.72285245e-01 8.67631668e-03 1.52348730e+02] [-1.72277120e-01 9.85047090e-01 -1.68085005e-03 -1.77290382e+01] [-8.83616616e-03 1.60921392e-04 9.99960947e-01 -3.73934007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:-17.74, Z:-3.74 [[ 9.85159605e-01 1.71400897e-01 9.07114983e-03 1.52376300e+02] [-1.71391986e-01 9.85201351e-01 -1.75660113e-03 -1.77358282e+01] [-9.23799207e-03 1.75810087e-04 9.99957313e-01 -3.73977745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:-17.74, Z:-3.74 [[ 9.85018543e-01 1.72224215e-01 8.79149500e-03 1.52403484e+02] [-1.72215883e-01 9.85057762e-01 -1.70183993e-03 -1.77440112e+01] [-8.95322843e-03 1.62308821e-04 9.99959906e-01 -3.74029561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:-17.75, Z:-3.74 [[ 9.84739214e-01 1.73824345e-01 8.58939348e-03 1.52429759e+02] [-1.73816456e-01 9.84776663e-01 -1.66228187e-03 -1.77510900e+01] [-8.74757930e-03 1.43936214e-04 9.99961729e-01 -3.74097978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:-17.76, Z:-3.74 [[ 9.84353438e-01 1.75971916e-01 9.06608101e-03 1.52457033e+02] [-1.75963228e-01 9.84395179e-01 -1.75346777e-03 -1.77583076e+01] [-9.23316752e-03 1.30735147e-04 9.99957365e-01 -3.74148828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:-17.77, Z:-3.74 [[ 9.83101092e-01 1.82852210e-01 8.79279823e-03 1.52483884e+02] [-1.82844318e-01 9.83140410e-01 -1.70000467e-03 -1.77655277e+01] [-8.95540486e-03 6.35632526e-05 9.99959898e-01 -3.74175164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:-17.77, Z:-3.74 [[ 9.82303997e-01 1.87087485e-01 8.78234441e-03 1.52510212e+02] [-1.87079786e-01 9.82343256e-01 -1.69749411e-03 -1.77707405e+01] [-8.94485670e-03 2.44561395e-05 9.99959994e-01 -3.74234354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:-17.78, Z:-3.74 [[ 9.81497046e-01 1.91277025e-01 8.75487547e-03 1.52537797e+02] [-1.91269533e-01 9.81536092e-01 -1.69293951e-03 -1.77755590e+01] [-8.91704668e-03 -1.29258208e-05 9.99960242e-01 -3.74310122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:-17.78, Z:-3.74 [[ 9.79673783e-01 2.00437869e-01 7.99618082e-03 1.52565311e+02] [-2.00431935e-01 9.79706412e-01 -1.54491291e-03 -1.77789962e+01] [-8.14356867e-03 -8.91793123e-05 9.99966837e-01 -3.74339029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:-17.78, Z:-3.74 [[ 9.78795006e-01 2.04689609e-01 7.90576408e-03 1.52592734e+02] [-2.04683957e-01 9.78826925e-01 -1.52620785e-03 -1.77828776e+01] [-8.05077363e-03 -1.24338449e-04 9.99967584e-01 -3.74437194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:-17.78, Z:-3.75 [[ 9.77216905e-01 2.12133116e-01 6.83087925e-03 1.52619798e+02] [-2.12129090e-01 9.77240766e-01 -1.31693453e-03 -1.77844974e+01] [-6.95477910e-03 -1.62097512e-04 9.99975802e-01 -3.74622218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:-17.79, Z:-3.75 [[ 9.76694685e-01 2.14534378e-01 6.51870312e-03 1.52648143e+02] [-2.14530762e-01 9.76716423e-01 -1.25707217e-03 -1.77874445e+01] [-6.63660960e-03 -1.70686640e-04 9.99977963e-01 -3.74724854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:-17.79, Z:-3.75 [[ 9.76269048e-01 2.16452915e-01 6.84698826e-03 1.52676070e+02] [-2.16448984e-01 9.76293039e-01 -1.31878868e-03 -1.77896749e+01] [-6.97012263e-03 -1.94531084e-04 9.99975689e-01 -3.74830488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:-17.79, Z:-3.75 [[ 9.75718986e-01 2.18901928e-01 7.37612423e-03 1.52705089e+02] [-2.18897451e-01 9.75746839e-01 -1.41885853e-03 -1.77894451e+01] [-7.50782076e-03 -2.30207587e-04 9.99971789e-01 -3.74889261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:-17.79, Z:-3.75 [[ 9.75561132e-01 2.19605662e-01 7.33695100e-03 1.52731647e+02] [-2.19601276e-01 9.75588693e-01 -1.40806435e-03 -1.77918901e+01] [-7.46706534e-03 -2.37550949e-04 9.99972093e-01 -3.74980002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:-17.79, Z:-3.75 [[ 9.75553581e-01 2.19640244e-01 7.30568929e-03 1.52759721e+02] [-2.19635888e-01 9.75580908e-01 -1.40320406e-03 -1.77943637e+01] [-7.43549107e-03 -2.35690809e-04 9.99972329e-01 -3.75059540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:-17.79, Z:-3.75 [[ 9.76063826e-01 2.17328389e-01 8.23279458e-03 1.52787899e+02] [-2.17322808e-01 9.76098514e-01 -1.57734977e-03 -1.77925210e+01] [-8.37882144e-03 -2.49579981e-04 9.99964866e-01 -3.75185157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:-17.79, Z:-3.75 [[ 9.76564115e-01 2.15052658e-01 8.65350322e-03 1.52815033e+02] [-2.15046411e-01 9.76602424e-01 -1.65705455e-03 -1.77936211e+01] [-8.80738621e-03 -2.42684797e-04 9.99961185e-01 -3.75250995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:-17.79, Z:-3.75 [[ 9.77242202e-01 2.11945678e-01 8.75833551e-03 1.52843174e+02] [-2.11939146e-01 9.77281425e-01 -1.67798515e-03 -1.77949565e+01] [-8.91500030e-03 -2.16436244e-04 9.99960237e-01 -3.75316754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:-17.79, Z:-3.75 [[ 9.78959605e-01 2.03894650e-01 8.06623353e-03 1.52870976e+02] [-2.03888860e-01 9.78992826e-01 -1.54247178e-03 -1.77946063e+01] [-8.21128650e-03 -1.34597596e-04 9.99966278e-01 -3.75400002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:-17.80, Z:-3.76 [[ 9.79910400e-01 1.99272024e-01 8.14053138e-03 1.52899135e+02] [-1.99265960e-01 9.79944208e-01 -1.55757174e-03 -1.77973483e+01] [-8.28764705e-03 -9.58500511e-05 9.99965652e-01 -3.75508068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:-17.80, Z:-3.76 [[ 9.80907349e-01 1.94296823e-01 8.33773092e-03 1.52927090e+02] [-1.94290296e-01 9.80942782e-01 -1.59355822e-03 -1.78006449e+01] [-8.48846026e-03 -5.68072487e-05 9.99963971e-01 -3.75559167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:-17.80, Z:-3.76 [[ 9.82894599e-01 1.83967299e-01 8.61630872e-03 1.52955063e+02] [-1.83959947e-01 9.82932364e-01 -1.64501737e-03 -1.78041597e+01] [-8.77187810e-03 3.18229936e-05 9.99961526e-01 -3.75628532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:152.98, Y:-17.81, Z:-3.76 [[ 9.83817240e-01 1.78941339e-01 9.14522885e-03 1.52983012e+02] [-1.78932858e-01 9.83859742e-01 -1.74400137e-03 -1.78079930e+01] [-9.30969643e-03 7.93966887e-05 9.99956661e-01 -3.75685039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:-17.81, Z:-3.76 [[ 9.84619634e-01 1.74438364e-01 9.76899167e-03 1.53010064e+02] [-1.74428503e-01 9.84668087e-01 -1.85915591e-03 -1.78116444e+01] [-9.94352245e-03 1.26570819e-04 9.99950554e-01 -3.75713625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:-17.82, Z:-3.76 [[ 9.85858988e-01 1.67268566e-01 1.01628256e-02 1.53036456e+02] [-1.67257521e-01 9.85911347e-01 -1.93312373e-03 -1.78153213e+01] [-1.03429959e-02 2.05978374e-04 9.99946489e-01 -3.75745849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-17.82, Z:-3.76 [[ 9.86322191e-01 1.64487982e-01 1.05942690e-02 1.53063448e+02] [-1.64475816e-01 9.86379057e-01 -2.01552710e-03 -1.78203519e+01] [-1.07814951e-02 2.45458060e-04 9.99941848e-01 -3.75800803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-17.83, Z:-3.76 [[ 9.86601039e-01 1.62795208e-01 1.07754309e-02 1.53090035e+02] [-1.62782560e-01 9.86659845e-01 -2.04649515e-03 -1.78251094e+01] [-1.09648446e-02 2.65022020e-04 9.99939849e-01 -3.75833297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:-17.83, Z:-3.76 [[ 9.86669855e-01 1.62446080e-01 9.68860681e-03 1.53118056e+02] [-1.62435830e-01 9.86717392e-01 -1.84088982e-03 -1.78296175e+01] [-9.85896218e-03 2.42573595e-04 9.99951370e-01 -3.75938104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.15, Y:-17.83, Z:-3.76 [[ 9.86494646e-01 1.63528288e-01 9.31733132e-03 1.53145489e+02] [-1.63518872e-01 9.86538621e-01 -1.76873833e-03 -1.78343243e+01] [-9.48114594e-03 2.21291379e-04 9.99955028e-01 -3.75962391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:-17.84, Z:-3.76 [[ 9.85708488e-01 1.68204058e-01 9.28283430e-03 1.53173352e+02] [-1.68194935e-01 9.85752182e-01 -1.76045358e-03 -1.78371224e+01] [-9.44668961e-03 1.73968326e-04 9.99955364e-01 -3.75972083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:-17.84, Z:-3.76 [[ 9.85194043e-01 1.71170721e-01 9.65820818e-03 1.53200408e+02] [-1.71161022e-01 9.85241373e-01 -1.82814756e-03 -1.78405427e+01] [-9.82859162e-03 1.47971298e-04 9.99951687e-01 -3.76033915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:-17.84, Z:-3.76 [[ 9.84693785e-01 1.73990373e-01 1.02713009e-02 1.53228120e+02] [-1.73979553e-01 9.84747345e-01 -1.94459633e-03 -1.78445548e+01] [-1.04529773e-02 1.27835582e-04 9.99945358e-01 -3.76092575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382200001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.25, Y:-17.85, Z:-3.76 [[ 9.83806795e-01 1.78836900e-01 1.18975912e-02 1.53254732e+02] [-1.78822787e-01 9.83878730e-01 -2.24828805e-03 -1.78485527e+01] [-1.21078638e-02 8.43206516e-05 9.99926694e-01 -3.76123251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:-17.85, Z:-3.76 [[ 9.83537240e-01 1.80261135e-01 1.26657469e-02 1.53282607e+02] [-1.80245259e-01 9.83618787e-01 -2.39345604e-03 -1.78525729e+01] [-1.28897137e-02 7.11123117e-05 9.99916922e-01 -3.76157435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:-17.86, Z:-3.76 [[ 9.83404914e-01 1.80947277e-01 1.31475320e-02 1.53308994e+02] [-1.80930277e-01 9.83492796e-01 -2.48106910e-03 -1.78561547e+01] [-1.33794457e-02 6.11089449e-05 9.99910489e-01 -3.76218276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:-17.86, Z:-3.76 [[ 9.83547449e-01 1.80245617e-01 1.20802561e-02 1.53336617e+02] [-1.80231221e-01 9.83621631e-01 -2.27891104e-03 -1.78630274e+01] [-1.22931650e-02 6.41778338e-05 9.99924434e-01 -3.76399978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:-17.87, Z:-3.77 [[ 9.83809468e-01 1.78831850e-01 1.17515833e-02 1.53363669e+02] [-1.78818152e-01 9.83879649e-01 -2.21474039e-03 -1.78695287e+01] [-1.19582097e-02 7.74861680e-05 9.99928495e-01 -3.76509170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:-17.88, Z:-3.76 [[ 9.84423079e-01 1.75417593e-01 1.18266589e-02 1.53391347e+02] [-1.75403500e-01 9.84494111e-01 -2.22665292e-03 -1.78758090e+01] [-1.20338701e-02 1.17531167e-04 9.99927583e-01 -3.76480701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:-17.88, Z:-3.77 [[ 9.84764219e-01 1.73518581e-01 1.14339164e-02 1.53417228e+02] [-1.73505321e-01 9.84830587e-01 -2.14922311e-03 -1.78816553e+01] [-1.16334007e-02 1.32632688e-04 9.99932321e-01 -3.76582617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:-17.89, Z:-3.77 [[ 9.85148675e-01 1.71340485e-01 1.11591348e-02 1.53444657e+02] [-1.71327711e-01 9.85211863e-01 -2.09791041e-03 -1.78879110e+01] [-1.13535689e-02 1.54884641e-04 9.99935534e-01 -3.76612633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:-17.89, Z:-3.77 [[ 9.85581085e-01 1.68775306e-01 1.20341661e-02 1.53472322e+02] [-1.68760292e-01 9.85654532e-01 -2.25973931e-03 -1.78943034e+01] [-1.22429186e-02 1.96266931e-04 9.99925033e-01 -3.76595130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:-17.90, Z:-3.77 [[ 9.85754216e-01 1.67744796e-01 1.22600352e-02 1.53499695e+02] [-1.67729164e-01 9.85830431e-01 -2.29964106e-03 -1.79003135e+01] [-1.24720686e-02 2.10515416e-04 9.99922199e-01 -3.76679420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:-17.91, Z:-3.77 [[ 9.85909761e-01 1.66833946e-01 1.21810491e-02 1.53527217e+02] [-1.66818491e-01 9.85984983e-01 -2.28115615e-03 -1.79076354e+01] [-1.23909057e-02 2.16989895e-04 9.99923206e-01 -3.76805506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:-17.92, Z:-3.77 [[ 9.86136254e-01 1.65455534e-01 1.26394440e-02 1.53552726e+02] [-1.65438791e-01 9.86217221e-01 -2.36612941e-03 -1.79177233e+01] [-1.28567266e-02 2.42271648e-04 9.99917320e-01 -3.76904275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:-17.92, Z:-3.77 [[ 9.86165658e-01 1.65238447e-01 1.31738796e-02 1.53580221e+02] [-1.65220257e-01 9.86253614e-01 -2.46482508e-03 -1.79240355e+01] [-1.34000703e-02 2.54134063e-04 9.99910183e-01 -3.76969966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.61, Y:-17.93, Z:-3.77 [[ 9.86194601e-01 1.65065617e-01 1.31738584e-02 1.53608224e+02] [-1.65047411e-01 9.86282554e-01 -2.46493924e-03 -1.79290928e+01] [-1.34000235e-02 2.56598549e-04 9.99910183e-01 -3.77036578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.64, Y:-17.94, Z:-3.77 [[ 9.86229398e-01 1.64848212e-01 1.32906564e-02 1.53635940e+02] [-1.64829709e-01 9.86318914e-01 -2.48329572e-03 -1.79351128e+01] [-1.35181926e-02 2.58404216e-04 9.99908592e-01 -3.77076834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:-17.94, Z:-3.77 [[ 9.86232833e-01 1.64925065e-01 1.20217169e-02 1.53662563e+02] [-1.64909941e-01 9.86306073e-01 -2.24549276e-03 -1.79431012e+01] [-1.22274305e-02 2.32078052e-04 9.99925215e-01 -3.77142735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.69, Y:-17.95, Z:-3.77 [[ 9.86161093e-01 1.65394793e-01 1.14394716e-02 1.53688550e+02] [-1.65381131e-01 9.86227416e-01 -2.13667001e-03 -1.79492301e+01] [-1.16353146e-02 2.15228080e-04 9.99932284e-01 -3.77241271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:-17.96, Z:-3.77 [[ 9.86020157e-01 1.66260666e-01 1.10290705e-02 1.53714435e+02] [-1.66248043e-01 9.86081818e-01 -2.05804247e-03 -1.79550856e+01] [-1.12177374e-02 1.95709982e-04 9.99937060e-01 -3.77326553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:-17.96, Z:-3.77 [[ 9.85771210e-01 1.67815819e-01 9.64221757e-03 1.53741849e+02] [-1.67806239e-01 9.85818354e-01 -1.79997467e-03 -1.79630995e+01] [-9.80753927e-03 1.56338943e-04 9.99951893e-01 -3.77490655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.77, Y:-17.97, Z:-3.78 [[ 9.85631919e-01 1.68672799e-01 8.89981960e-03 1.53767542e+02] [-1.68664696e-01 9.85672090e-01 -1.65870854e-03 -1.79700349e+01] [-9.05208280e-03 1.33790713e-04 9.99959020e-01 -3.77627310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:-17.98, Z:-3.78 [[ 9.85523421e-01 1.69317000e-01 8.67984369e-03 1.53794510e+02] [-1.69309325e-01 9.85561636e-01 -1.61687370e-03 -1.79773046e+01] [-8.82828515e-03 1.23888425e-04 9.99961022e-01 -3.77693771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:-17.99, Z:-3.78 [[ 9.85295643e-01 1.70622395e-01 8.97187859e-03 1.53820866e+02] [-1.70614254e-01 9.85336483e-01 -1.67071126e-03 -1.79853917e+01] [-9.12538006e-03 1.15414150e-04 9.99958356e-01 -3.77713809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.85, Y:-17.99, Z:-3.78 [[ 9.85216076e-01 1.71084327e-01 8.91270183e-03 1.53848716e+02] [-1.71076321e-01 9.85256383e-01 -1.65873958e-03 -1.79913338e+01] [-9.06508072e-03 1.09464663e-04 9.99958905e-01 -3.77705768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.88, Y:-18.00, Z:-3.78 [[ 9.85118561e-01 1.71623846e-01 9.31001092e-03 1.53875003e+02] [-1.71615140e-01 9.85162547e-01 -1.73208290e-03 -1.79970991e+01] [-9.46914080e-03 1.08568185e-04 9.99955161e-01 -3.77691216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:-18.01, Z:-3.78 [[ 9.85122185e-01 1.71552517e-01 1.01987771e-02 1.53901306e+02] [-1.71542078e-01 9.85174969e-01 -1.89622139e-03 -1.80062812e+01] [-1.03728814e-02 1.18490344e-04 9.99946193e-01 -3.77776379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:-18.01, Z:-3.78 [[ 9.85245703e-01 1.70838045e-01 1.02599410e-02 1.53928591e+02] [-1.70827450e-01 9.85299115e-01 -1.90684131e-03 -1.80145042e+01] [-1.04348718e-02 1.26027661e-04 9.99945547e-01 -3.77817672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.96, Y:-18.02, Z:-3.78 [[ 9.85600300e-01 1.68728926e-01 1.10723869e-02 1.53955338e+02] [-1.68716464e-01 9.85662480e-01 -2.05689738e-03 -1.80239891e+01] [-1.12606944e-02 1.59184714e-04 9.99936584e-01 -3.77851662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:-18.03, Z:-3.78 [[ 9.85766412e-01 1.67710231e-01 1.17413065e-02 1.53981403e+02] [-1.67696155e-01 9.85836318e-01 -2.18030780e-03 -1.80305743e+01] [-1.19406663e-02 1.80302233e-04 9.99928691e-01 -3.77898232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.01, Y:-18.04, Z:-3.78 [[ 9.85935663e-01 1.66645593e-01 1.26536526e-02 1.54008072e+02] [-1.66629174e-01 9.86016837e-01 -2.34833542e-03 -1.80380770e+01] [-1.28680543e-02 2.06839959e-04 9.99917182e-01 -3.77999187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:-18.05, Z:-3.78 [[ 9.86036048e-01 1.66023721e-01 1.30013762e-02 1.54033591e+02] [-1.66006345e-01 9.86121735e-01 -2.41196677e-03 -1.80461823e+01] [-1.32213833e-02 2.19975241e-04 9.99912569e-01 -3.78118326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:-18.06, Z:-3.78 [[ 9.86056944e-01 1.65973105e-01 1.20263328e-02 1.54060408e+02] [-1.65958246e-01 9.86130259e-01 -2.23006455e-03 -1.80572250e+01] [-1.22296614e-02 2.03101535e-04 9.99925194e-01 -3.78245799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:-18.07, Z:-3.78 [[ 9.85770628e-01 1.67708753e-01 1.14036484e-02 1.54085657e+02] [-1.67695516e-01 9.85836571e-01 -2.11396548e-03 -1.80666735e+01] [-1.15966642e-02 1.71544369e-04 9.99932742e-01 -3.78327380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-18.07, Z:-3.78 [[ 9.85524372e-01 1.69179632e-01 1.09528660e-02 1.54112409e+02] [-1.69167524e-01 9.85585222e-01 -2.02933157e-03 -1.80733693e+01] [-1.11383044e-02 1.47086500e-04 9.99937956e-01 -3.78358347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:-18.08, Z:-3.78 [[ 9.85241295e-01 1.70859963e-01 1.03181417e-02 1.54140118e+02] [-1.70849317e-01 9.85295315e-01 -1.91107851e-03 -1.80793781e+01] [-1.04929435e-02 1.20025994e-04 9.99944940e-01 -3.78389597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-18.09, Z:-3.79 [[ 9.84472989e-01 1.75276371e-01 9.54609906e-03 1.54166900e+02] [-1.75267472e-01 9.84519268e-01 -1.76754725e-03 -1.80867837e+01] [-9.70812773e-03 6.69818766e-05 9.99952873e-01 -3.78508641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.19, Y:-18.09, Z:-3.79 [[ 9.83995823e-01 1.77964352e-01 8.99503511e-03 1.54193380e+02] [-1.77956566e-01 9.84036934e-01 -1.66510560e-03 -1.80945616e+01] [-9.14777622e-03 3.77313971e-05 9.99958158e-01 -3.78605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:-18.10, Z:-3.79 [[ 9.83558158e-01 1.80372685e-01 8.89069250e-03 1.54220952e+02] [-1.80365185e-01 9.83598340e-01 -1.64487593e-03 -1.81013524e+01] [-9.04156107e-03 1.42597460e-05 9.99959124e-01 -3.78693775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:-18.11, Z:-3.79 [[ 9.82710767e-01 1.84937044e-01 8.82257333e-03 1.54247371e+02] [-1.84929841e-01 9.82750370e-01 -1.63250312e-03 -1.81079644e+01] [-8.97229750e-03 -2.72786891e-05 9.99959748e-01 -3.78699561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:-18.11, Z:-3.79 [[ 9.82414953e-01 1.86463271e-01 9.60774948e-03 1.54275083e+02] [-1.86454825e-01 9.82461931e-01 -1.77536568e-03 -1.81138839e+01] [-9.77028860e-03 -4.72654558e-05 9.99952268e-01 -3.78761129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.30, Y:-18.12, Z:-3.79 [[ 9.81899696e-01 1.89127955e-01 1.01786094e-02 1.54302605e+02] [-1.89118627e-01 9.81952448e-01 -1.88001073e-03 -1.81203066e+01] [-1.03504730e-02 -7.89826621e-05 9.99946429e-01 -3.78786422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:-18.13, Z:-3.79 [[ 9.81704788e-01 1.90138955e-01 1.01433022e-02 1.54328725e+02] [-1.90129752e-01 9.81757185e-01 -1.87287677e-03 -1.81255512e+01] [-1.03143666e-02 -8.99314351e-05 9.99946801e-01 -3.78884398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.36, Y:-18.13, Z:-3.79 [[ 9.81654979e-01 1.90414638e-01 9.78612500e-03 1.54356429e+02] [-1.90406095e-01 9.81703752e-01 -1.80592063e-03 -1.81310462e+01] [-9.95094935e-03 -9.05468736e-05 9.99950484e-01 -3.78963754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.38, Y:-18.14, Z:-3.79 [[ 9.81632377e-01 1.90527323e-01 9.85979530e-03 1.54382761e+02] [-1.90518663e-01 9.81681889e-01 -1.81894096e-03 -1.81362452e+01] [-1.00257404e-02 -9.29436808e-05 9.99949737e-01 -3.79064152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:-18.14, Z:-3.79 [[ 9.81619459e-01 1.90629678e-01 9.14137119e-03 1.54410195e+02] [-1.90622245e-01 9.81662018e-01 -1.68560411e-03 -1.81408968e+01] [-9.29506306e-03 -8.79269061e-05 9.99956796e-01 -3.79250560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:-18.15, Z:-3.79 [[ 9.81636221e-01 1.90575548e-01 8.44340729e-03 1.54437841e+02] [-1.90569209e-01 9.81672529e-01 -1.55649110e-03 -1.81465393e+01] [-8.58529013e-03 -8.11454030e-05 9.99963142e-01 -3.79357371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.46, Y:-18.15, Z:-3.79 [[ 9.81598864e-01 1.90786598e-01 8.00895763e-03 1.54464195e+02] [-1.90780898e-01 9.81631534e-01 -1.47682242e-03 -1.81528485e+01] [-8.14360329e-03 -7.83089246e-05 9.99966837e-01 -3.79447746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.49, Y:-18.16, Z:-3.80 [[ 9.81519382e-01 1.91195841e-01 7.99080024e-03 1.54490440e+02] [-1.91190195e-01 9.81551906e-01 -1.47159657e-03 -1.81575641e+01] [-8.12474835e-03 -8.33621062e-05 9.99966990e-01 -3.79536666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:-18.16, Z:-3.80 [[ 9.81559575e-01 1.90978383e-01 8.24968249e-03 1.54517276e+02] [-1.90972366e-01 9.81594239e-01 -1.51844901e-03 -1.81611359e+01] [-8.38783174e-03 -8.50132124e-05 9.99964818e-01 -3.79542649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-18.16, Z:-3.80 [[ 9.81858408e-01 1.89426073e-01 8.47518863e-03 1.54545250e+02] [-1.89419672e-01 9.81894983e-01 -1.55904763e-03 -1.81648676e+01] [-8.61706946e-03 -7.46034237e-05 9.99962870e-01 -3.79577885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.57, Y:-18.17, Z:-3.80 [[ 9.82100743e-01 1.88166096e-01 8.46470057e-03 1.54572296e+02] [-1.88159661e-01 9.82137219e-01 -1.55738308e-03 -1.81690753e+01] [-8.60654417e-03 -6.32081096e-05 9.99962961e-01 -3.79675381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:-18.17, Z:-3.80 [[ 9.82419800e-01 1.86495869e-01 8.40406190e-03 1.54599425e+02] [-1.86489481e-01 9.82455744e-01 -1.54431071e-03 -1.81734148e+01] [-8.54462646e-03 -5.01077236e-05 9.99963493e-01 -3.79746435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:-18.18, Z:-3.80 [[ 9.82827992e-01 1.84333598e-01 8.38227433e-03 1.54627350e+02] [-1.84327173e-01 9.82863736e-01 -1.53945481e-03 -1.81785340e+01] [-8.52240670e-03 -3.20616500e-05 9.99963683e-01 -3.79828153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.65, Y:-18.19, Z:-3.80 [[ 9.83826747e-01 1.78908908e-01 8.74837699e-03 1.54653860e+02] [-1.78901693e-01 9.83865642e-01 -1.60681819e-03 -1.81855534e+01] [-8.89470164e-03 1.57312587e-05 9.99960441e-01 -3.79906116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.68, Y:-18.19, Z:-3.80 [[ 9.84391554e-01 1.75802779e-01 8.16397682e-03 1.54681488e+02] [-1.75796404e-01 9.84425407e-01 -1.49766679e-03 -1.81916386e+01] [-8.30012018e-03 3.90927695e-05 9.99965553e-01 -3.79917000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:-18.20, Z:-3.80 [[ 9.85261402e-01 1.70894977e-01 7.40785803e-03 1.54708262e+02] [-1.70889592e-01 9.85289248e-01 -1.35856678e-03 -1.81982386e+01] [-7.53105510e-03 7.26175704e-05 9.99971639e-01 -3.80001915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-18.20, Z:-3.80 [[ 9.85556978e-01 1.69186665e-01 7.30169218e-03 1.54735098e+02] [-1.69181389e-01 9.85584023e-01 -1.33875543e-03 -1.82032101e+01] [-7.42293072e-03 8.41093338e-05 9.99972446e-01 -3.80055038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:-18.21, Z:-3.80 [[ 9.85718355e-01 1.68238581e-01 7.42323051e-03 1.54762077e+02] [-1.68233102e-01 9.85746302e-01 -1.36096170e-03 -1.82081413e+01] [-7.54638829e-03 9.26918317e-05 9.99971521e-01 -3.80090989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:-18.21, Z:-3.80 [[ 9.85664222e-01 1.68520904e-01 8.16981284e-03 1.54789360e+02] [-1.68514294e-01 9.85698075e-01 -1.49570023e-03 -1.82143096e+01] [-8.30502555e-03 9.75279553e-05 9.99965508e-01 -3.80109420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:-18.22, Z:-3.80 [[ 9.85520772e-01 1.69305831e-01 9.18384747e-03 1.54816184e+02] [-1.69297521e-01 9.85563557e-01 -1.68051227e-03 -1.82205993e+01] [-9.33578591e-03 1.01377143e-04 9.99956415e-01 -3.80142980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.84, Y:-18.23, Z:-3.80 [[ 9.85037477e-01 1.72042011e-01 1.01349051e-02 1.54843037e+02] [-1.72032043e-01 9.85089610e-01 -1.85376370e-03 -1.82263792e+01] [-1.03027149e-02 8.24982892e-05 9.99946922e-01 -3.80121011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:-18.23, Z:-3.80 [[ 9.84742971e-01 1.73736691e-01 9.84091309e-03 1.54870890e+02] [-1.73727387e-01 9.84792140e-01 -1.79901948e-03 -1.82303101e+01] [-1.00038095e-02 6.19356660e-05 9.99949959e-01 -3.80179997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:-18.23, Z:-3.80 [[ 9.84489913e-01 1.75187472e-01 9.43187094e-03 1.54898172e+02] [-1.75178999e-01 9.84535092e-01 -1.72361334e-03 -1.82348310e+01] [-9.58796339e-03 4.46142468e-05 9.99954033e-01 -3.80290332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.92, Y:-18.24, Z:-3.80 [[ 9.84283524e-01 1.76342665e-01 9.44500959e-03 1.54924181e+02] [-1.76334226e-01 9.84328839e-01 -1.72546825e-03 -1.82405188e+01] [-9.60126899e-03 3.28715084e-05 9.99953906e-01 -3.80429709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:-18.25, Z:-3.81 [[ 9.84092389e-01 1.77411661e-01 9.34194912e-03 1.54950692e+02] [-1.77403461e-01 9.84136729e-01 -1.70583918e-03 -1.82478589e+01] [-9.49639101e-03 2.14092455e-05 9.99954908e-01 -3.80517494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:-18.25, Z:-3.81 [[ 9.84136071e-01 1.77182442e-01 9.08707657e-03 1.54978555e+02] [-1.77174682e-01 9.84178023e-01 -1.65844337e-03 -1.82536983e+01] [-9.23714811e-03 2.21340371e-05 9.99957336e-01 -3.80544695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:-18.26, Z:-3.81 [[ 9.84465326e-01 1.75386683e-01 8.21785498e-03 1.55005193e+02] [-1.75380277e-01 9.84499624e-01 -1.49935185e-03 -1.82626400e+01] [-8.35344149e-03 3.48102249e-05 9.99965109e-01 -3.80657840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:-18.27, Z:-3.81 [[ 9.84689897e-01 1.74141952e-01 7.77088484e-03 1.55031566e+02] [-1.74136188e-01 9.84720559e-01 -1.41749459e-03 -1.82704564e+01] [-7.89899533e-03 4.26003362e-05 9.99968802e-01 -3.80751523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:-18.28, Z:-3.81 [[ 9.84844093e-01 1.73272426e-01 7.66678694e-03 1.55058230e+02] [-1.73266796e-01 9.84873933e-01 -1.39761547e-03 -1.82774983e+01] [-7.79298683e-03 4.80337301e-05 9.99969633e-01 -3.80792311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:-18.29, Z:-3.81 [[ 9.84858330e-01 1.73162133e-01 8.30338801e-03 1.55085751e+02] [-1.73155531e-01 9.84893331e-01 -1.51298580e-03 -1.82851152e+01] [-8.43994332e-03 5.22991066e-05 9.99964382e-01 -3.80779457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.11, Y:-18.29, Z:-3.81 [[ 9.84733417e-01 1.73852805e-01 8.67750879e-03 1.55112480e+02] [-1.73845628e-01 9.84771649e-01 -1.58042225e-03 -1.82920638e+01] [-8.82012547e-03 4.77476477e-05 9.99961101e-01 -3.80828525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:-18.30, Z:-3.81 [[ 9.84542517e-01 1.74916529e-01 8.95763787e-03 1.55139021e+02] [-1.74908932e-01 9.84583265e-01 -1.63070031e-03 -1.82998213e+01] [-9.10477678e-03 3.87229087e-05 9.99958550e-01 -3.80890330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.16, Y:-18.31, Z:-3.81 [[ 9.83935190e-01 1.78257656e-01 9.78516305e-03 1.55164761e+02] [-1.78248763e-01 9.83983845e-01 -1.78060721e-03 -1.83083630e+01] [-9.94584923e-03 7.80888456e-06 9.99950539e-01 -3.80818066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.19, Y:-18.31, Z:-3.81 [[ 9.83493718e-01 1.80666841e-01 9.97994443e-03 1.55192280e+02] [-1.80657725e-01 9.83544352e-01 -1.81496292e-03 -1.83146287e+01] [-1.01436216e-02 -1.79494219e-05 9.99948552e-01 -3.80842676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:-18.32, Z:-3.81 [[ 9.82951084e-01 1.83575684e-01 1.03505980e-02 1.55218977e+02] [-1.83566043e-01 9.83005578e-01 -1.88198955e-03 -1.83210501e+01] [-1.05201831e-02 -5.01146616e-05 9.99944660e-01 -3.80907876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:-18.33, Z:-3.81 [[ 9.81563190e-01 1.90860058e-01 1.03025648e-02 1.55245559e+02] [-1.90850923e-01 9.81617248e-01 -1.87176375e-03 -1.83276527e+01] [-1.04704203e-02 -1.28999616e-04 9.99945175e-01 -3.81015186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:-18.33, Z:-3.81 [[ 9.80828734e-01 1.94625083e-01 9.80159916e-03 1.55272742e+02] [-1.94617013e-01 9.80877694e-01 -1.77981301e-03 -1.83320046e+01] [-9.96056624e-03 -1.61866201e-04 9.99950379e-01 -3.81108784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:-18.34, Z:-3.81 [[ 9.79695400e-01 2.00298713e-01 8.79476083e-03 1.55300590e+02] [-2.00292448e-01 9.79734855e-01 -1.59651024e-03 -1.83353602e+01] [-8.93631267e-03 -1.97430439e-04 9.99960051e-01 -3.81330734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.33, Y:-18.34, Z:-3.82 [[ 9.79444692e-01 2.01558351e-01 7.89469281e-03 1.55328550e+02] [-2.01553346e-01 9.79476491e-01 -1.43276114e-03 -1.83396732e+01] [-8.02145098e-03 -1.87891464e-04 9.99967810e-01 -3.81546053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:155.36, Y:-18.34, Z:-3.82 [[ 9.79457091e-01 2.01498087e-01 7.89483241e-03 1.55356602e+02] [-2.01493086e-01 9.79488890e-01 -1.43199112e-03 -1.83446289e+01] [-8.02144411e-03 -1.88180291e-04 9.99967810e-01 -3.81612720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.38, Y:-18.35, Z:-3.82 [[ 9.79370436e-01 2.01956541e-01 6.86335198e-03 1.55383030e+02] [-2.01952771e-01 9.79394470e-01 -1.24505581e-03 -1.83496370e+01] [-6.97337614e-03 -1.66702108e-04 9.99975672e-01 -3.81695146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.41, Y:-18.36, Z:-3.82 [[ 9.79517460e-01 2.01271345e-01 5.94911532e-03 1.55410066e+02] [-2.01268503e-01 9.79535515e-01 -1.07872996e-03 -1.83552959e+01] [-6.04448717e-03 -1.40734701e-04 9.99981722e-01 -3.81807498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.44, Y:-18.36, Z:-3.82 [[ 9.80389523e-01 1.97014701e-01 4.64650751e-03 1.55437435e+02] [-1.97012920e-01 9.80400530e-01 -8.42562390e-04 -1.83616022e+01] [-4.72143560e-03 -8.93826706e-05 9.99988850e-01 -3.81894214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.46, Y:-18.37, Z:-3.82 [[ 9.80985101e-01 1.94019040e-01 4.98438743e-03 1.55464425e+02] [-1.94016953e-01 9.80997760e-01 -9.03549152e-04 -1.83663532e+01] [-5.06497864e-03 -8.06874057e-05 9.99987170e-01 -3.81963578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:-18.37, Z:-3.82 [[ 9.82287850e-01 1.87258332e-01 6.70047806e-03 1.55492341e+02] [-1.87254413e-01 9.82310701e-01 -1.21311681e-03 -1.83718521e+01] [-6.80911753e-03 -6.30641851e-05 9.99976816e-01 -3.81895680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:-18.38, Z:-3.82 [[ 9.82933209e-01 1.83820301e-01 7.23897199e-03 1.55519956e+02] [-1.83815639e-01 9.82959864e-01 -1.30994582e-03 -1.83774272e+01] [-7.35641356e-03 -4.30470124e-05 9.99972940e-01 -3.81925408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:-18.38, Z:-3.82 [[ 9.83558571e-01 1.80401757e-01 8.23061494e-03 1.55547102e+02] [-1.80395616e-01 9.83593008e-01 -1.48856344e-03 -1.83831187e+01] [-8.36411477e-03 -2.06775291e-05 9.99965020e-01 -3.81931540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.57, Y:-18.39, Z:-3.82 [[ 9.84521939e-01 1.74903545e-01 1.11938276e-02 1.55574708e+02] [-1.74891851e-01 9.84585572e-01 -2.02280082e-03 -1.83929450e+01] [-1.13750762e-02 3.37825624e-05 9.99935301e-01 -3.81881713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.60, Y:-18.40, Z:-3.82 [[ 9.84870965e-01 1.72860052e-01 1.21895204e-02 1.55601683e+02] [-1.72846036e-01 9.84946394e-01 -2.20211206e-03 -1.84009373e+01] [-1.23866814e-02 6.18859363e-05 9.99923280e-01 -3.81932901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.63, Y:-18.41, Z:-3.82 [[ 9.85177046e-01 1.71116389e-01 1.20569501e-02 1.55630311e+02] [-1.71102557e-01 9.85250818e-01 -2.17720406e-03 -1.84072162e+01] [-1.22516753e-02 8.19564661e-05 9.99924942e-01 -3.82025576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:-18.41, Z:-3.82 [[ 9.85454372e-01 1.69580083e-01 1.10578694e-02 1.55658613e+02] [-1.69568357e-01 9.85516406e-01 -1.99638243e-03 -1.84127288e+01] [-1.12362584e-02 9.22790541e-05 9.99936867e-01 -3.82085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:-18.42, Z:-3.82 [[ 9.85469663e-01 1.69543435e-01 1.02257593e-02 1.55685535e+02] [-1.69533407e-01 9.85522712e-01 -1.84588230e-03 -1.84182610e+01] [-1.03906752e-02 8.54531997e-05 9.99946012e-01 -3.82163963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.71, Y:-18.42, Z:-3.82 [[ 9.85387945e-01 1.70057071e-01 9.54932601e-03 1.55713663e+02] [-1.70048357e-01 9.85434213e-01 -1.72307812e-03 -1.84247589e+01] [-9.70325417e-03 7.40532078e-05 9.99952920e-01 -3.82218938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:-18.43, Z:-3.82 [[ 9.84845766e-01 1.73189301e-01 9.18055140e-03 1.55741895e+02] [-1.73181387e-01 9.84888554e-01 -1.65617204e-03 -1.84327458e+01] [-9.32865127e-03 4.11733950e-05 9.99956486e-01 -3.82238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:-18.44, Z:-3.82 [[ 9.84466846e-01 1.75347445e-01 8.84884049e-03 1.55768641e+02] [-1.75340182e-01 9.84506614e-01 -1.59610059e-03 -1.84388339e+01] [-8.99161415e-03 1.97508159e-05 9.99959574e-01 -3.82302553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:-18.44, Z:-3.82 [[ 9.83614371e-01 1.80102221e-01 8.12153821e-03 1.55796926e+02] [-1.80096269e-01 9.83647899e-01 -1.46436745e-03 -1.84434789e+01] [-8.25246983e-03 -2.22858576e-05 9.99965948e-01 -3.82326433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-18.45, Z:-3.82 [[ 9.83132427e-01 1.82682910e-01 8.80821069e-03 1.55824152e+02] [-1.82676013e-01 9.83171883e-01 -1.58816828e-03 -1.84472191e+01] [-8.95011630e-03 -4.76690705e-05 9.99959946e-01 -3.82393330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:-18.45, Z:-3.82 [[ 9.82705868e-01 1.84928556e-01 9.51871112e-03 1.55851992e+02] [-1.84920619e-01 9.82751964e-01 -1.71496565e-03 -1.84512608e+01] [-9.67167817e-03 -7.48991457e-05 9.99953225e-01 -3.82414087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.88, Y:-18.46, Z:-3.82 [[ 9.82027532e-01 1.88398488e-01 1.13108909e-02 1.55878884e+02] [-1.88387523e-01 9.82092660e-01 -2.03685616e-03 -1.84556525e+01] [-1.14920836e-02 -1.30581896e-04 9.99933955e-01 -3.82448341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:-18.46, Z:-3.82 [[ 9.81797175e-01 1.89572035e-01 1.16940407e-02 1.55906595e+02] [-1.89560411e-01 9.81866804e-01 -2.10470715e-03 -1.84602941e+01] [-1.18809840e-02 -1.50331622e-04 9.99929407e-01 -3.82458280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:-18.46, Z:-3.83 [[ 9.81570598e-01 1.90717274e-01 1.20864571e-02 1.55933738e+02] [-1.90704950e-01 9.81644993e-01 -2.17474345e-03 -1.84635318e+01] [-1.22793712e-02 -1.70282966e-04 9.99924591e-01 -3.82598051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:-18.47, Z:-3.83 [[ 9.81540812e-01 1.90853283e-01 1.23555378e-02 1.55960418e+02] [-1.90840435e-01 9.81618558e-01 -2.22161713e-03 -1.84668160e+01] [-1.25524281e-02 -1.77328328e-04 9.99921199e-01 -3.82645669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:-18.47, Z:-3.83 [[ 9.81520365e-01 1.90936883e-01 1.26838301e-02 1.55988658e+02] [-1.90923371e-01 9.81602299e-01 -2.27894485e-03 -1.84704260e+01] [-1.28856114e-02 -1.84808821e-04 9.99916960e-01 -3.82744266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.02, Y:-18.47, Z:-3.83 [[ 9.81570139e-01 1.90693984e-01 1.24846385e-02 1.56016503e+02] [-1.90680885e-01 9.81649516e-01 -2.24225827e-03 -1.84742170e+01] [-1.26831245e-02 -1.79648148e-04 9.99919550e-01 -3.82833217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.04, Y:-18.48, Z:-3.83 [[ 9.81748961e-01 1.89830420e-01 1.15494542e-02 1.56043800e+02] [-1.89819158e-01 9.81816881e-01 -2.07368498e-03 -1.84770390e+01] [-1.17330976e-02 -1.56469597e-04 9.99931153e-01 -3.82939267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:-18.48, Z:-3.83 [[ 9.81869420e-01 1.89228786e-01 1.11762876e-02 1.56071252e+02] [-1.89218214e-01 9.81933015e-01 -2.00556344e-03 -1.84799986e+01] [-1.13538761e-02 -1.45555775e-04 9.99935532e-01 -3.83036875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:-18.48, Z:-3.83 [[ 9.82237697e-01 1.87320611e-01 1.09587646e-02 1.56097741e+02] [-1.87310335e-01 9.82298821e-01 -1.96590113e-03 -1.84827558e+01] [-1.11330354e-02 -1.21707668e-04 9.99938018e-01 -3.83139028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:-18.49, Z:-3.83 [[ 9.82512878e-01 1.85860852e-01 1.11439463e-02 1.56125615e+02] [-1.85850144e-01 9.82576069e-01 -1.99801204e-03 -1.84871137e+01] [-1.13211272e-02 -1.08031465e-04 9.99935908e-01 -3.83162049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:-18.49, Z:-3.83 [[ 9.82830058e-01 1.84158541e-01 1.14328381e-02 1.56153685e+02] [-1.84147165e-01 9.82896548e-01 -2.04892798e-03 -1.84913128e+01] [-1.16146247e-02 -9.15767313e-05 9.99932544e-01 -3.83208140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:-18.50, Z:-3.83 [[ 9.83510624e-01 1.80519682e-01 1.09314644e-02 1.56180408e+02] [-1.80509064e-01 9.83571371e-01 -1.95847161e-03 -1.84950922e+01] [-1.11054181e-02 -4.70507677e-05 9.99938332e-01 -3.83285237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:-18.50, Z:-3.83 [[ 9.83896300e-01 1.78409428e-01 1.08695250e-02 1.56207755e+02] [-1.78398813e-01 9.83956338e-01 -1.94627949e-03 -1.85003373e+01] [-1.10423726e-02 -2.41731625e-05 9.99939031e-01 -3.83362334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:-18.51, Z:-3.83 [[ 9.84262307e-01 1.76361082e-01 1.11570171e-02 1.56233926e+02] [-1.76349775e-01 9.84325540e-01 -1.99702018e-03 -1.85058181e+01] [-1.13343335e-02 -1.94576580e-06 9.99935764e-01 -3.83455855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.26, Y:-18.51, Z:-3.83 [[ 9.84664677e-01 1.74179214e-01 9.85268193e-03 1.56262137e+02] [-1.74170298e-01 9.84713969e-01 -1.76244928e-03 -1.85118061e+01] [-1.00090556e-02 1.93770048e-05 9.99949908e-01 -3.83491740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:-18.52, Z:-3.84 [[ 9.84688964e-01 1.74068710e-01 9.36637980e-03 1.56289208e+02] [-1.74060647e-01 9.84733509e-01 -1.67555260e-03 -1.85164161e+01] [-9.51504933e-03 1.95800314e-05 9.99954731e-01 -3.83565921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:156.32, Y:-18.52, Z:-3.84 [[ 9.84594509e-01 1.74580417e-01 9.76375801e-03 1.56316885e+02] [-1.74571691e-01 9.84642919e-01 -1.74554494e-03 -1.85206765e+01] [-9.91855315e-03 1.41782137e-05 9.99950810e-01 -3.83588665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:-18.52, Z:-3.83 [[ 9.83959538e-01 1.77970983e-01 1.22456740e-02 1.56344861e+02] [-1.77957536e-01 9.84035735e-01 -2.18789649e-03 -1.85224694e+01] [-1.24395629e-02 -2.64083409e-05 9.99922625e-01 -3.83470500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.37, Y:-18.53, Z:-3.84 [[ 9.83490122e-01 1.80555652e-01 1.21176300e-02 1.56372666e+02] [-1.80542692e-01 9.83564768e-01 -2.16412120e-03 -1.85255633e+01] [-1.23092182e-02 -5.93577083e-05 9.99924237e-01 -3.83535488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:-18.53, Z:-3.84 [[ 9.83027623e-01 1.83112730e-01 1.12437242e-02 1.56399978e+02] [-1.83101747e-01 9.83091919e-01 -2.00732798e-03 -1.85289895e+01] [-1.14211817e-02 -8.54866902e-05 9.99934773e-01 -3.83658602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:-18.53, Z:-3.84 [[ 9.82210301e-01 1.87552959e-01 9.31729789e-03 1.56426663e+02] [-1.87545619e-01 9.82254486e-01 -1.66316677e-03 -1.85307147e+01] [-9.46388950e-03 -1.13838861e-04 9.99955210e-01 -3.83906695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:-18.53, Z:-3.84 [[ 9.81881044e-01 1.89308786e-01 8.47345000e-03 1.56453195e+02] [-1.89302786e-01 9.81917598e-01 -1.51196135e-03 -1.85336318e+01] [-8.60645724e-03 -1.19481498e-04 9.99962957e-01 -3.84085909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:-18.54, Z:-3.84 [[ 9.81665257e-01 1.90455216e-01 7.75460440e-03 1.56480895e+02] [-1.90450232e-01 9.81695878e-01 -1.38295283e-03 -1.85365820e+01] [-7.87605376e-03 -1.19269463e-04 9.99968976e-01 -3.84218813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-18.54, Z:-3.84 [[ 9.81610335e-01 1.90787375e-01 6.42868695e-03 1.56509293e+02] [-1.90783958e-01 9.81631380e-01 -1.14632548e-03 -1.85373902e+01] [-6.52930527e-03 -1.01245410e-04 9.99978679e-01 -3.84334057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-18.54, Z:-3.84 [[ 9.81838516e-01 1.89624535e-01 5.97196831e-03 1.56535794e+02] [-1.89621565e-01 9.81856674e-01 -1.06477194e-03 -1.85400571e+01] [-6.06552382e-03 -8.69798787e-05 9.99981601e-01 -3.84378602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.56, Y:-18.54, Z:-3.84 [[ 9.82216925e-01 1.87650641e-01 6.09506938e-03 1.56563700e+02] [-1.87647515e-01 9.82235833e-01 -1.08592342e-03 -1.85437579e+01] [-6.19056978e-03 -7.71122608e-05 9.99980835e-01 -3.84456371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:-18.55, Z:-3.85 [[ 9.83334575e-01 1.81688373e-01 6.51528627e-03 1.56590956e+02] [-1.81684674e-01 9.83356158e-01 -1.16020266e-03 -1.85486187e+01] [-6.61764221e-03 -4.28602724e-05 9.99978102e-01 -3.84548756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:-18.55, Z:-3.85 [[ 9.83966474e-01 1.78218420e-01 6.94062043e-03 1.56618521e+02] [-1.78214140e-01 9.83990952e-01 -1.23536948e-03 -1.85537499e+01] [-7.04967330e-03 -2.13545500e-05 9.99975151e-01 -3.84628324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.65, Y:-18.56, Z:-3.85 [[ 9.84644430e-01 1.74412784e-01 7.45167378e-03 1.56645114e+02] [-1.74407740e-01 9.84672626e-01 -1.32643575e-03 -1.85583798e+01] [-7.56880654e-03 6.43798660e-06 9.99971356e-01 -3.84668101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:-18.56, Z:-3.85 [[ 9.85925776e-01 1.66953731e-01 8.76445917e-03 1.56671655e+02] [-1.66946478e-01 9.85964729e-01 -1.55792067e-03 -1.85634868e+01] [-8.90154828e-03 7.27985595e-05 9.99960378e-01 -3.84637427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.70, Y:-18.57, Z:-3.85 [[ 9.86520189e-01 1.63409425e-01 8.67623674e-03 1.56699004e+02] [-1.63402188e-01 9.86558335e-01 -1.54134886e-03 -1.85695972e+01] [-8.81148460e-03 1.02855698e-04 9.99961173e-01 -3.84688856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:156.73, Y:-18.58, Z:-3.85 [[ 9.87004092e-01 1.60477534e-01 8.35967309e-03 1.56725926e+02] [-1.60470715e-01 9.87039485e-01 -1.48461841e-03 -1.85768167e+01] [-8.48957532e-03 1.23841726e-04 9.99963955e-01 -3.84801293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.75, Y:-18.59, Z:-3.85 [[ 9.87559081e-01 1.57052040e-01 7.85607792e-03 1.56753494e+02] [-1.57045916e-01 9.87590318e-01 -1.39430243e-03 -1.85861195e+01] [-7.97756453e-03 1.43191071e-04 9.99968168e-01 -3.84767385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-18.59, Z:-3.85 [[ 9.87632636e-01 1.56598461e-01 7.66154327e-03 1.56781160e+02] [-1.56592623e-01 9.87662342e-01 -1.35972054e-03 -1.85919837e+01] [-7.77994791e-03 1.43163228e-04 9.99969725e-01 -3.84809787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.81, Y:-18.60, Z:-3.85 [[ 9.87283977e-01 1.58767726e-01 7.94714420e-03 1.56808958e+02] [-1.58761523e-01 9.87315954e-01 -1.40949249e-03 -1.85981047e+01] [-8.07012417e-03 1.29868638e-04 9.99967428e-01 -3.84811896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:-18.60, Z:-3.85 [[ 9.86942021e-01 1.60845404e-01 8.61407561e-03 1.56836598e+02] [-1.60838198e-01 9.86979605e-01 -1.52742305e-03 -1.86041434e+01] [-8.74759592e-03 1.22005594e-04 9.99961732e-01 -3.84856979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-18.61, Z:-3.85 [[ 9.86509152e-01 1.63449084e-01 9.17006734e-03 1.56863856e+02] [-1.63441035e-01 9.86551765e-01 -1.62551422e-03 -1.86100877e+01] [-9.31243493e-03 1.04819362e-04 9.99956633e-01 -3.84871324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.89, Y:-18.62, Z:-3.85 [[ 9.85421654e-01 1.69879429e-01 9.22736337e-03 1.56890341e+02] [-1.69871565e-01 9.85464854e-01 -1.63513555e-03 -1.86170537e+01] [-9.37101819e-03 4.38313228e-05 9.99956090e-01 -3.84970143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.92, Y:-18.62, Z:-3.85 [[ 9.84838021e-01 1.73250739e-01 8.84612420e-03 1.56917369e+02] [-1.73243655e-01 9.84877750e-01 -1.56671275e-03 -1.86222010e+01] [-8.98378503e-03 1.04233977e-05 9.99959645e-01 -3.85011038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:-18.63, Z:-3.85 [[ 9.84180343e-01 1.76960857e-01 8.59694980e-03 1.56943622e+02] [-1.76954312e-01 9.84217890e-01 -1.52216773e-03 -1.86271120e+01] [-8.73063590e-03 -2.31797746e-05 9.99961887e-01 -3.85125430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-18.63, Z:-3.85 [[ 9.83508789e-01 1.80674145e-01 8.20457585e-03 1.56971599e+02] [-1.80668320e-01 9.83543009e-01 -1.45190680e-03 -1.86320655e+01] [-8.33187524e-03 -5.43438317e-05 9.99965288e-01 -3.85277062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-18.64, Z:-3.85 [[ 9.82287233e-01 1.87251233e-01 6.98332486e-03 1.56997802e+02] [-1.87247175e-01 9.82312052e-01 -1.23635277e-03 -1.86373958e+01] [-7.09131275e-03 -9.31543074e-05 9.99974852e-01 -3.85379641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.03, Y:-18.64, Z:-3.85 [[ 9.81707738e-01 1.90289159e-01 6.32076795e-03 1.57025361e+02] [-1.90285906e-01 9.81728081e-01 -1.11766040e-03 -1.86419848e+01] [-6.41795405e-03 -1.05537189e-04 9.99979399e-01 -3.85462398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.05, Y:-18.65, Z:-3.86 [[ 9.81719016e-01 1.90230965e-01 6.32088298e-03 1.57053436e+02] [-1.90227715e-01 9.81739359e-01 -1.11700903e-03 -1.86468102e+01] [-6.41794931e-03 -1.05818121e-04 9.99979399e-01 -3.85529065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.08, Y:-18.65, Z:-3.86 [[ 9.80653006e-01 1.95646343e-01 6.49537581e-03 1.57080742e+02] [-1.95643030e-01 9.80674506e-01 -1.14780635e-03 -1.86489301e+01] [-6.59441358e-03 -1.45175262e-04 9.99978246e-01 -3.85505575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:-18.65, Z:-3.86 [[ 9.80231483e-01 1.97732106e-01 6.94648037e-03 1.57108152e+02] [-1.97728375e-01 9.80256081e-01 -1.22660116e-03 -1.86525552e+01] [-7.05186806e-03 -1.71163204e-04 9.99975121e-01 -3.85583357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:-18.66, Z:-3.86 [[ 9.79848474e-01 1.99608725e-01 7.30234046e-03 1.57134454e+02] [-1.99604658e-01 9.79875665e-01 -1.28899711e-03 -1.86566665e+01] [-7.41268079e-03 -1.94559319e-04 9.99972507e-01 -3.85648358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.16, Y:-18.66, Z:-3.86 [[ 9.79573588e-01 2.00950799e-01 7.37302083e-03 1.57160798e+02] [-2.00946696e-01 9.79601313e-01 -1.30081866e-03 -1.86604408e+01] [-7.48402144e-03 -2.07336573e-04 9.99971973e-01 -3.85691780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.19, Y:-18.66, Z:-3.86 [[ 9.79253678e-01 2.02508398e-01 7.25141578e-03 1.57189133e+02] [-2.02504476e-01 9.79280502e-01 -1.27867064e-03 -1.86612576e+01] [-7.36011163e-03 -2.16301228e-04 9.99972891e-01 -3.85757719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:157.22, Y:-18.66, Z:-3.86 [[ 9.79187169e-01 2.02835484e-01 7.08902899e-03 1.57216397e+02] [-2.02831747e-01 9.79212807e-01 -1.24972702e-03 -1.86633341e+01] [-7.19515696e-03 -2.14163470e-04 9.99974092e-01 -3.85909060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.24, Y:-18.66, Z:-3.86 [[ 9.79410607e-01 2.01764919e-01 6.76605799e-03 1.57243912e+02] [-2.01761493e-01 9.79433958e-01 -1.19226088e-03 -1.86627460e+01] [-6.86746338e-03 -1.97417016e-04 9.99976399e-01 -3.85973836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.27, Y:-18.66, Z:-3.86 [[ 9.79645427e-01 2.00632149e-01 6.44805506e-03 1.57272267e+02] [-2.00629017e-01 9.79666631e-01 -1.13552713e-03 -1.86649300e+01] [-6.54476762e-03 -1.81252991e-04 9.99978566e-01 -3.86075490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.30, Y:-18.67, Z:-3.86 [[ 9.79948648e-01 1.99153694e-01 6.20107647e-03 1.57299934e+02] [-1.99150758e-01 9.79968254e-01 -1.09357313e-03 -1.86666269e+01] [-6.29464722e-03 -1.63303570e-04 9.99980175e-01 -3.86176335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-18.67, Z:-3.86 [[ 9.80727309e-01 1.95266539e-01 6.70256178e-03 1.57327085e+02] [-1.95263041e-01 9.80750200e-01 -1.17877744e-03 -1.86670202e+01] [-6.80371460e-03 -1.52703367e-04 9.99976843e-01 -3.86256393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-18.67, Z:-3.86 [[ 9.81177658e-01 1.92996928e-01 6.52611193e-03 1.57355021e+02] [-1.92993566e-01 9.81199352e-01 -1.14705423e-03 -1.86703251e+01] [-6.62479474e-03 -1.34033626e-04 9.99978047e-01 -3.86374230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.38, Y:-18.67, Z:-3.86 [[ 9.82312646e-01 1.87157959e-01 5.81064915e-03 1.57382576e+02] [-1.87155191e-01 9.82329828e-01 -1.02125806e-03 -1.86713768e+01] [-5.89911056e-03 -8.42984456e-05 9.99982597e-01 -3.86417680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-18.67, Z:-3.86 [[ 9.82908746e-01 1.83994270e-01 6.04206381e-03 1.57409650e+02] [-1.83991222e-01 9.82927314e-01 -1.06126667e-03 -1.86743228e+01] [-6.13417654e-03 -6.85584127e-05 9.99981183e-01 -3.86499771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-18.68, Z:-3.87 [[ 9.83484226e-01 1.80891864e-01 6.07536945e-03 1.57437230e+02] [-1.80888728e-01 9.83502990e-01 -1.06635714e-03 -1.86773519e+01] [-6.16803935e-03 -5.02204229e-05 9.99980976e-01 -3.86512813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.47, Y:-18.68, Z:-3.87 [[ 9.83998738e-01 1.78076169e-01 5.94663854e-03 1.57465507e+02] [-1.78073115e-01 9.84016706e-01 -1.04336369e-03 -1.86808550e+01] [-6.03738988e-03 -3.22678942e-05 9.99981774e-01 -3.86587212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.49, Y:-18.68, Z:-3.87 [[ 9.84951974e-01 1.72720292e-01 6.10821393e-03 1.57493682e+02] [-1.72716970e-01 9.84970914e-01 -1.07122305e-03 -1.86827202e+01] [-6.20143502e-03 1.11048101e-07 9.99980771e-01 -3.86610523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-18.69, Z:-3.87 [[ 9.85314630e-01 1.70644903e-01 5.94952210e-03 1.57522045e+02] [-1.70641715e-01 9.85332592e-01 -1.04311653e-03 -1.86858371e+01] [-6.04026056e-03 1.25613267e-05 9.99981757e-01 -3.86667612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-18.69, Z:-3.87 [[ 9.85927904e-01 1.67091095e-01 5.17056818e-03 1.57548854e+02] [-1.67088638e-01 9.85941461e-01 -9.06592910e-04 -1.86895117e+01] [-5.24936115e-03 2.98920530e-05 9.99986222e-01 -3.86786266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.58, Y:-18.69, Z:-3.87 [[ 9.86186311e-01 1.65568818e-01 4.85036605e-03 1.57576078e+02] [-1.65566640e-01 9.86198238e-01 -8.49809051e-04 -1.86941105e+01] [-4.92412434e-03 3.50112422e-05 9.99987876e-01 -3.86872742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:-18.70, Z:-3.87 [[ 9.86420263e-01 1.64161866e-01 5.09384920e-03 1.57603526e+02] [-1.64159449e-01 9.86433414e-01 -8.92060045e-04 -1.86979588e+01] [-5.17118530e-03 4.37426273e-05 9.99986628e-01 -3.86850074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-18.70, Z:-3.87 [[ 9.86628738e-01 1.62867597e-01 6.15455849e-03 1.57631685e+02] [-1.62864047e-01 9.86647932e-01 -1.07704608e-03 -1.87007412e+01] [-6.24779832e-03 6.02883175e-05 9.99980481e-01 -3.86845177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:-18.70, Z:-3.87 [[ 9.86729172e-01 1.62242190e-01 6.55837094e-03 1.57658506e+02] [-1.62238143e-01 9.86750965e-01 -1.14800032e-03 -1.87047438e+01] [-6.65773294e-03 6.87474795e-05 9.99977835e-01 -3.86906161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-18.71, Z:-3.87 [[ 9.86796609e-01 1.61825682e-01 6.70077472e-03 1.57686592e+02] [-1.61821461e-01 9.86819357e-01 -1.17102798e-03 -1.87091604e+01] [-6.80195660e-03 7.12372857e-05 9.99976864e-01 -3.86943892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:-18.71, Z:-3.87 [[ 9.87034043e-01 1.60365174e-01 6.84165129e-03 1.57713558e+02] [-1.60360741e-01 9.87057751e-01 -1.19528701e-03 -1.87131077e+01] [-6.94478734e-03 8.26567036e-05 9.99975881e-01 -3.87065869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.74, Y:-18.72, Z:-3.87 [[ 9.87232741e-01 1.59155461e-01 6.40732570e-03 1.57741589e+02] [-1.59151552e-01 9.87253530e-01 -1.11871412e-03 -1.87178840e+01] [-6.50370437e-03 8.46953815e-05 9.99978847e-01 -3.87126225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-18.72, Z:-3.87 [[ 9.87437300e-01 1.57875396e-01 6.55267067e-03 1.57768694e+02] [-1.57871283e-01 9.87459037e-01 -1.14354855e-03 -1.87233288e+01] [-6.65103205e-03 9.47039615e-05 9.99977877e-01 -3.87180160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:-18.73, Z:-3.87 [[ 9.87654894e-01 1.56457185e-01 7.67856974e-03 1.57795849e+02] [-1.56451500e-01 9.87684734e-01 -1.33917474e-03 -1.87305592e+01] [-7.79352963e-03 1.21318729e-04 9.99969623e-01 -3.87104736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:-18.74, Z:-3.87 [[ 9.87672227e-01 1.56340824e-01 7.81786700e-03 1.57822491e+02] [-1.56334931e-01 9.87703160e-01 -1.36302971e-03 -1.87362999e+01] [-7.93482913e-03 1.24020886e-04 9.99968511e-01 -3.87125746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:-18.74, Z:-3.87 [[ 9.87528152e-01 1.57252530e-01 7.73249666e-03 1.57849828e+02] [-1.57246799e-01 9.87558418e-01 -1.34731199e-03 -1.87440864e+01] [-7.84816039e-03 1.14598171e-04 9.99969196e-01 -3.87183571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:-18.75, Z:-3.87 [[ 9.87403319e-01 1.58044225e-01 7.53057136e-03 1.57876133e+02] [-1.58038812e-01 9.87432029e-01 -1.31220219e-03 -1.87505303e+01] [-7.64331334e-03 1.05550248e-04 9.99970784e-01 -3.87220910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:-18.76, Z:-3.87 [[ 9.87198984e-01 1.59318954e-01 7.45898538e-03 1.57903527e+02] [-1.59313691e-01 9.87227158e-01 -1.29831126e-03 -1.87565918e+01] [-7.57055853e-03 9.33730582e-05 9.99971339e-01 -3.87252854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.93, Y:-18.76, Z:-3.87 [[ 9.86562770e-01 1.63237507e-01 6.88606237e-03 1.57930252e+02] [-1.63233119e-01 9.86586799e-01 -1.19840410e-03 -1.87620791e+01] [-6.98932273e-03 5.82674312e-05 9.99975573e-01 -3.87319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:-18.77, Z:-3.87 [[ 9.86079595e-01 1.66161329e-01 6.11925527e-03 1.57957575e+02] [-1.66157923e-01 9.86098581e-01 -1.06444765e-03 -1.87679674e+01] [-6.21105897e-03 3.28673688e-05 9.99980711e-01 -3.87408087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:-18.77, Z:-3.87 [[ 9.85541969e-01 1.69329690e-01 5.87227110e-03 1.57983859e+02] [-1.69326606e-01 9.85559463e-01 -1.02202499e-03 -1.87738512e+01] [-5.96053153e-03 1.29167847e-05 9.99982236e-01 -3.87481221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.01, Y:-18.78, Z:-3.88 [[ 9.84398895e-01 1.75861199e-01 5.62619673e-03 1.58010685e+02] [-1.75858483e-01 9.84414973e-01 -9.77694585e-04 -1.87803975e+01] [-5.71045084e-03 -2.69729517e-05 9.99983695e-01 -3.87553788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-18.79, Z:-3.88 [[ 9.83944919e-01 1.78388242e-01 5.48011897e-03 1.58037736e+02] [-1.78385706e-01 9.83960179e-01 -9.52160328e-04 -1.87850507e+01] [-5.56207305e-03 -4.07015730e-05 9.99984531e-01 -3.87684051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:-18.79, Z:-3.88 [[ 9.83549851e-01 1.80561612e-01 5.21478751e-03 1.58065384e+02] [-1.80559349e-01 9.83563674e-01 -9.05498756e-04 -1.87898525e+01] [-5.29257388e-03 -5.09754689e-05 9.99985993e-01 -3.87739895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-18.80, Z:-3.88 [[ 9.83111941e-01 1.82904131e-01 6.08190879e-03 1.58091905e+02] [-1.82901100e-01 9.83130751e-01 -1.05552672e-03 -1.87967598e+01] [-6.17237175e-03 -7.46868826e-05 9.99980948e-01 -3.87909765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:-18.80, Z:-3.88 [[ 9.83130565e-01 1.82806830e-01 5.99630832e-03 1.58119072e+02] [-1.82803887e-01 9.83148848e-01 -1.03994434e-03 -1.88036414e+01] [-6.08537254e-03 -7.37474002e-05 9.99981481e-01 -3.87960185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.14, Y:-18.81, Z:-3.88 [[ 9.83503096e-01 1.80796461e-01 5.85660627e-03 1.58144568e+02] [-1.80793619e-01 9.83520532e-01 -1.01552789e-03 -1.88126495e+01] [-5.94369636e-03 -6.00622176e-05 9.99982334e-01 -3.88001128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:-18.82, Z:-3.88 [[ 9.83745617e-01 1.79457363e-01 6.29408887e-03 1.58171755e+02] [-1.79454059e-01 9.83765750e-01 -1.09043201e-03 -1.88187100e+01] [-6.38759511e-03 -5.67920841e-05 9.99979597e-01 -3.88026522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-18.82, Z:-3.88 [[ 9.84007064e-01 1.78012454e-01 6.45477265e-03 1.58199081e+02] [-1.78008951e-01 9.84028233e-01 -1.11784238e-03 -1.88239052e+01] [-6.55066839e-03 -4.90425070e-05 9.99978543e-01 -3.87977448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:-18.83, Z:-3.88 [[ 9.84450238e-01 1.75503246e-01 7.50596222e-03 1.58225924e+02] [-1.75498443e-01 9.84478851e-01 -1.29907325e-03 -1.88302927e+01] [-7.61745264e-03 -3.84117065e-05 9.99970986e-01 -3.88012602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.25, Y:-18.84, Z:-3.88 [[ 9.84544573e-01 1.74960670e-01 7.79408087e-03 1.58252123e+02] [-1.74955472e-01 9.84575423e-01 -1.34905169e-03 -1.88366437e+01] [-7.90989146e-03 -3.54155853e-05 9.99968716e-01 -3.88096874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.28, Y:-18.84, Z:-3.88 [[ 9.84450719e-01 1.75481920e-01 7.92949105e-03 1.58279459e+02] [-1.75476571e-01 9.84482653e-01 -1.37073321e-03 -1.88434897e+01] [-8.04698529e-03 -4.20206022e-05 9.99967622e-01 -3.88135073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:-18.85, Z:-3.88 [[ 9.83863099e-01 1.78716349e-01 8.59471349e-03 1.58306603e+02] [-1.78710196e-01 9.83900636e-01 -1.48496900e-03 -1.88513522e+01] [-8.72173230e-03 -7.49567258e-05 9.99961962e-01 -3.88184885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:-18.86, Z:-3.88 [[ 9.83509217e-01 1.80640182e-01 8.87380659e-03 1.58333178e+02] [-1.80633701e-01 9.83549244e-01 -1.53318243e-03 -1.88574263e+01] [-9.00478012e-03 -9.50094732e-05 9.99959452e-01 -3.88226666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:-18.86, Z:-3.88 [[ 9.83150974e-01 1.82578779e-01 8.89674928e-03 1.58360472e+02] [-1.82572359e-01 9.83191221e-01 -1.53538341e-03 -1.88630904e+01] [-9.02753421e-03 -1.14786805e-04 9.99959244e-01 -3.88258206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.39, Y:-18.87, Z:-3.88 [[ 9.82798182e-01 1.84480558e-01 8.64041505e-03 1.58387227e+02] [-1.84474580e-01 9.82836155e-01 -1.49072337e-03 -1.88679259e+01] [-8.76712178e-03 -1.28856723e-04 9.99961560e-01 -3.88321735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:-18.87, Z:-3.88 [[ 9.82220599e-01 1.87545168e-01 8.33697776e-03 1.58415005e+02] [-1.87539720e-01 9.82255968e-01 -1.43754664e-03 -1.88701848e+01] [-8.45865109e-03 -1.51526550e-04 9.99964213e-01 -3.88435093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:-18.87, Z:-3.89 [[ 9.82077656e-01 1.88297462e-01 8.21846629e-03 1.58441616e+02] [-1.88292197e-01 9.82112031e-01 -1.41670461e-03 -1.88746151e+01] [-8.33821651e-03 -1.56159138e-04 9.99965224e-01 -3.88524641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:-18.88, Z:-3.89 [[ 9.82046375e-01 1.88451877e-01 8.41476910e-03 1.58468127e+02] [-1.88446365e-01 9.82082412e-01 -1.45029594e-03 -1.88793914e+01] [-8.53730773e-03 -1.61474783e-04 9.99963543e-01 -3.88598410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:-18.88, Z:-3.89 [[ 9.82014285e-01 1.88571298e-01 9.42390232e-03 1.58495860e+02] [-1.88564411e-01 9.82059485e-01 -1.62209446e-03 -1.88834014e+01] [-9.56071311e-03 -1.84092658e-04 9.99954278e-01 -3.88674632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-18.89, Z:-3.89 [[ 9.82090042e-01 1.88187051e-01 9.20781581e-03 1.58522633e+02] [-1.88180464e-01 9.82133190e-01 -1.58442745e-03 -1.88883862e+01] [-9.34147025e-03 -1.76680629e-04 9.99956352e-01 -3.88785240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-18.89, Z:-3.89 [[ 9.82267745e-01 1.87307793e-01 8.11592756e-03 1.58549686e+02] [-1.87302651e-01 9.82301261e-01 -1.39589006e-03 -1.88947339e+01] [-8.23374697e-03 -1.48996973e-04 9.99966091e-01 -3.88907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-18.90, Z:-3.89 [[ 9.82352683e-01 1.86863490e-01 8.07730487e-03 1.58577468e+02] [-1.86858386e-01 9.82385879e-01 -1.38868477e-03 -1.88983201e+01] [-8.19452472e-03 -1.45133949e-04 9.99966414e-01 -3.88969116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.61, Y:-18.90, Z:-3.89 [[ 9.82475319e-01 1.86236744e-01 7.62379734e-03 1.58605470e+02] [-1.86232181e-01 9.82504889e-01 -1.31027394e-03 -1.89009332e+01] [-7.73443932e-03 -1.32484599e-04 9.99970080e-01 -3.89051935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.63, Y:-18.90, Z:-3.89 [[ 9.82846835e-01 1.84331934e-01 5.81688678e-03 1.58632996e+02] [-1.84329240e-01 9.82864045e-01 -1.00053711e-03 -1.89028111e+01] [-5.90163981e-03 -8.88475903e-05 9.99982581e-01 -3.89167665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:-18.91, Z:-3.89 [[ 9.83057092e-01 1.83223693e-01 5.27570209e-03 1.58660215e+02] [-1.83221468e-01 9.83071245e-01 -9.06187809e-04 -1.89072508e+01] [-5.35242610e-03 -7.57875309e-05 9.99985673e-01 -3.89300321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-18.91, Z:-3.89 [[ 9.83243852e-01 1.82224775e-01 5.06539627e-03 1.58687467e+02] [-1.82222712e-01 9.83256898e-01 -8.69805173e-04 -1.89117919e+01] [-5.13908587e-03 -6.77996568e-05 9.99986793e-01 -3.89357740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:-18.91, Z:-3.89 [[ 9.83214029e-01 1.82366403e-01 5.71560804e-03 1.58715698e+02] [-1.82363782e-01 9.83230639e-01 -9.80824725e-04 -1.89147723e+01] [-5.79863042e-03 -7.79592673e-05 9.99983185e-01 -3.89296873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.74, Y:-18.92, Z:-3.89 [[ 9.83017103e-01 1.83426591e-01 5.66224983e-03 1.58743961e+02] [-1.83424038e-01 9.83033407e-01 -9.71250953e-04 -1.89170426e+01] [-5.74433399e-03 -8.38364332e-05 9.99983498e-01 -3.89271293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.77, Y:-18.92, Z:-3.89 [[ 9.82373017e-01 1.86808871e-01 6.76032422e-03 1.58771691e+02] [-1.86805318e-01 9.82396269e-01 -1.15896285e-03 -1.89154861e+01] [-6.85782184e-03 -1.24330688e-04 9.99976477e-01 -3.89343424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.80, Y:-18.92, Z:-3.89 [[ 9.82100906e-01 1.88198762e-01 7.68355304e-03 1.58799511e+02] [-1.88194222e-01 9.82130950e-01 -1.31609756e-03 -1.89185401e+01] [-7.79394318e-03 -1.53459683e-04 9.99969615e-01 -3.89435686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:-18.92, Z:-3.90 [[ 9.82112049e-01 1.88140596e-01 7.68367797e-03 1.58827611e+02] [-1.88136061e-01 9.82142094e-01 -1.31536741e-03 -1.89232152e+01] [-7.79393758e-03 -1.53738721e-04 9.99969615e-01 -3.89502354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.85, Y:-18.93, Z:-3.90 [[ 9.81886360e-01 1.89289988e-01 8.27504452e-03 1.58854155e+02] [-1.89284770e-01 9.81921214e-01 -1.41634492e-03 -1.89262937e+01] [-8.39354167e-03 -1.75650142e-04 9.99964758e-01 -3.89563136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.88, Y:-18.92, Z:-3.90 [[ 9.81552937e-01 1.90978332e-01 9.00598650e-03 1.58883036e+02] [-1.90972233e-01 9.81594231e-01 -1.54033934e-03 -1.89247378e+01] [-9.13439583e-03 -2.07968745e-04 9.99958259e-01 -3.89563621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.91, Y:-18.92, Z:-3.90 [[ 9.81536085e-01 1.91053316e-01 9.24898104e-03 1.58910946e+02] [-1.91046894e-01 9.81579637e-01 -1.58117842e-03 -1.89246110e+01] [-9.38070084e-03 -2.15005424e-04 9.99955977e-01 -3.89639118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.94, Y:-18.93, Z:-3.90 [[ 9.81630680e-01 1.90570203e-01 9.17635230e-03 1.58939264e+02] [-1.90563866e-01 9.81673548e-01 -1.56814197e-03 -1.89253764e+01] [-9.30702345e-03 -2.09344903e-04 9.99956667e-01 -3.89742351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.97, Y:-18.92, Z:-3.90 [[ 9.82219891e-01 1.87556986e-01 8.15252911e-03 1.58966557e+02] [-1.87551882e-01 9.82253710e-01 -1.39294399e-03 -1.89249022e+01] [-8.26910834e-03 -1.60844884e-04 9.99965797e-01 -3.89787022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.99, Y:-18.93, Z:-3.90 [[ 9.82599845e-01 1.85564629e-01 7.95700766e-03 1.58993114e+02] [-1.85559707e-01 9.82632051e-01 -1.35888605e-03 -1.89267337e+01] [-8.07097195e-03 -1.41258793e-04 9.99967419e-01 -3.89849837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:-18.92, Z:-3.90 [[ 9.83481043e-01 1.80838302e-01 7.90865053e-03 1.59021798e+02] [-1.80833294e-01 9.83512836e-01 -1.34978733e-03 -1.89247422e+01] [-8.02235256e-03 -1.02657072e-04 9.99967815e-01 -3.89860655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.05, Y:-18.93, Z:-3.90 [[ 9.83975936e-01 1.78125619e-01 7.91334640e-03 1.59048621e+02] [-1.78120520e-01 9.84007753e-01 -1.35018813e-03 -1.89258510e+01] [-8.02729731e-03 -8.09767445e-05 9.99967777e-01 -3.89918399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.08, Y:-18.93, Z:-3.90 [[ 9.84519658e-01 1.75083022e-01 8.18400522e-03 1.59076384e+02] [-1.75077470e-01 9.84553671e-01 -1.39547373e-03 -1.89269124e+01] [-8.30191614e-03 -5.89636122e-05 9.99965537e-01 -3.89977094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.10, Y:-18.93, Z:-3.90 [[ 9.85030589e-01 1.72153585e-01 8.82504325e-03 1.59104652e+02] [-1.72147019e-01 9.85070120e-01 -1.50398311e-03 -1.89281153e+01] [-8.95220250e-03 -3.77355184e-05 9.99959928e-01 -3.90095418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:-18.93, Z:-3.90 [[ 9.86153342e-01 1.65605183e-01 8.74692535e-03 1.59132957e+02] [-1.65598480e-01 9.86192133e-01 -1.49002999e-03 -1.89276064e+01] [-8.87290566e-03 2.09205039e-05 9.99960635e-01 -3.90180629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.16, Y:-18.93, Z:-3.90 [[ 9.86723000e-01 1.62181625e-01 8.65109171e-03 1.59159636e+02] [-1.62174941e-01 9.86760922e-01 -1.47325679e-03 -1.89314149e+01] [-8.77549442e-03 5.07060759e-05 9.99961493e-01 -3.90254674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.19, Y:-18.93, Z:-3.90 [[ 9.87855589e-01 1.55123837e-01 8.82780056e-03 1.59187130e+02] [-1.55116604e-01 9.87895026e-01 -1.50239248e-03 -1.89340100e+01] [-8.95399715e-03 1.14808363e-04 9.99959906e-01 -3.90294073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.21, Y:-18.94, Z:-3.90 [[ 9.88380274e-01 1.51751410e-01 8.71454713e-03 1.59214858e+02] [-1.51744236e-01 9.88418681e-01 -1.48249599e-03 -1.89365622e+01] [-8.83859204e-03 1.42887495e-04 9.99960929e-01 -3.90411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.24, Y:-18.94, Z:-3.91 [[ 9.88847873e-01 1.48718484e-01 7.91806586e-03 1.59241750e+02] [-1.48712466e-01 9.88879562e-01 -1.34674466e-03 -1.89393665e+01] [-8.03029933e-03 1.54210492e-04 9.99967745e-01 -3.90512384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.27, Y:-18.94, Z:-3.91 [[ 9.89606946e-01 1.43616393e-01 7.24046699e-03 1.59269483e+02] [-1.43611229e-01 9.89633417e-01 -1.23079629e-03 -1.89422928e+01] [-7.34217061e-03 1.78192196e-04 9.99973030e-01 -3.90597803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.30, Y:-18.95, Z:-3.91 [[ 9.89905030e-01 1.41534381e-01 7.48667940e-03 1.59296810e+02] [-1.41528805e-01 9.89933321e-01 -1.27204897e-03 -1.89467435e+01] [-7.59135206e-03 1.99626883e-04 9.99971165e-01 -3.90660692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.32, Y:-18.95, Z:-3.91 [[ 9.90402579e-01 1.38057516e-01 6.54632255e-03 1.59324270e+02] [-1.38053179e-01 9.90424194e-01 -1.11204991e-03 -1.89534829e+01] [-6.63716309e-03 1.97636457e-04 9.99977954e-01 -3.90783609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.35, Y:-18.96, Z:-3.91 [[ 9.90598345e-01 1.36667175e-01 6.08291031e-03 1.59350555e+02] [-1.36663405e-01 9.90617003e-01 -1.03320079e-03 -1.89597560e+01] [-6.16703901e-03 1.92175760e-04 9.99980965e-01 -3.90913285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:-18.97, Z:-3.91 [[ 9.90779552e-01 1.35357594e-01 5.84810717e-03 1.59378313e+02] [-1.35354090e-01 9.90796793e-01 -9.92669356e-04 -1.89660888e+01] [-5.92865117e-03 1.91951275e-04 9.99982407e-01 -3.90972760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:-18.97, Z:-3.91 [[ 9.90956536e-01 1.34024038e-01 6.53467404e-03 1.59405452e+02] [-1.34019638e-01 9.90978056e-01 -1.10858767e-03 -1.89732446e+01] [-6.62429597e-03 2.22787542e-04 9.99978034e-01 -3.90933591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:-18.98, Z:-3.91 [[ 9.90990678e-01 1.33723290e-01 7.45373863e-03 1.59432019e+02] [-1.33717562e-01 9.91018676e-01 -1.26389463e-03 -1.89799634e+01] [-7.55580633e-03 2.55812045e-04 9.99971422e-01 -3.90964222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:-18.99, Z:-3.91 [[ 9.91004382e-01 1.33585650e-01 8.07399300e-03 1.59458748e+02] [-1.33578934e-01 9.91037233e-01 -1.36783160e-03 -1.89883379e+01] [-8.18435036e-03 2.77011724e-04 9.99966469e-01 -3.91013646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:-19.00, Z:-3.91 [[ 9.90931092e-01 1.34130523e-01 8.03578116e-03 1.59485037e+02] [-1.34123891e-01 9.90963637e-01 -1.36112489e-03 -1.90015852e+01] [-8.14573532e-03 2.70990742e-04 9.99966786e-01 -3.91046182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:-19.01, Z:-3.91 [[ 9.90811585e-01 1.35018390e-01 7.90175265e-03 1.59511476e+02] [-1.35012010e-01 9.90843059e-01 -1.33771896e-03 -1.90102026e+01] [-8.01001343e-03 2.58595928e-04 9.99967886e-01 -3.91069724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.54, Y:-19.02, Z:-3.91 [[ 9.90352844e-01 1.38345237e-01 7.86388195e-03 1.59538511e+02] [-1.38339030e-01 9.90384038e-01 -1.33055864e-03 -1.90249006e+01] [-7.97233961e-03 2.29840734e-04 9.99968194e-01 -3.91157540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:-19.03, Z:-3.91 [[ 9.89985722e-01 1.40950489e-01 7.82494579e-03 1.59565292e+02] [-1.40944425e-01 9.90016624e-01 -1.32382806e-03 -1.90343094e+01] [-7.93342063e-03 2.07688392e-04 9.99968508e-01 -3.91201687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.59, Y:-19.04, Z:-3.91 [[ 9.89514389e-01 1.44236703e-01 7.55302829e-03 1.59592715e+02] [-1.44231155e-01 9.89543199e-01 -1.27714618e-03 -1.90428225e+01] [-7.65825913e-03 1.74372526e-04 9.99970660e-01 -3.91220405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.62, Y:-19.05, Z:-3.91 [[ 9.88259080e-01 1.52527174e-01 8.91354085e-03 1.59618307e+02] [-1.52519784e-01 9.88299269e-01 -1.50707319e-03 -1.90530407e+01] [-9.03911551e-03 1.29887441e-04 9.99959138e-01 -3.91240556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:-19.06, Z:-3.91 [[ 9.87476721e-01 1.57493090e-01 9.25484007e-03 1.59645789e+02] [-1.57485351e-01 9.87520085e-01 -1.56371125e-03 -1.90606438e+01] [-9.38561418e-03 8.66267268e-05 9.99955950e-01 -3.91270626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:-19.07, Z:-3.91 [[ 9.85753388e-01 1.67998938e-01 8.16174098e-03 1.59672178e+02] [-1.67993282e-01 9.85787176e-01 -1.37863189e-03 -1.90715126e+01] [-8.27734829e-03 -1.21265974e-05 9.99965742e-01 -3.91366435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:-19.08, Z:-3.91 [[ 9.84924310e-01 1.72801944e-01 7.97445449e-03 1.59699256e+02] [-1.72796706e-01 9.84956591e-01 -1.34645228e-03 -1.90787095e+01] [-8.08716108e-03 -5.18058829e-05 9.99967297e-01 -3.91438937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.73, Y:-19.09, Z:-3.92 [[ 9.84150369e-01 1.77145029e-01 8.22743353e-03 1.59725052e+02] [-1.77139609e-01 9.84184754e-01 -1.38868818e-03 -1.90857075e+01] [-8.34331385e-03 -9.07263749e-05 9.99965190e-01 -3.91528354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.75, Y:-19.09, Z:-3.92 [[ 9.83509156e-01 1.80665342e-01 8.35312150e-03 1.59751319e+02] [-1.80659884e-01 9.83544620e-01 -1.40970084e-03 -1.90923311e+01] [-8.47035179e-03 -1.22620273e-04 9.99964118e-01 -3.91607856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.78, Y:-19.10, Z:-3.92 [[ 9.82568397e-01 1.85749002e-01 7.52685396e-03 1.59778006e+02] [-1.85744730e-01 9.82597214e-01 -1.26884778e-03 -1.91003872e+01] [-7.63155294e-03 -1.51343727e-04 9.99970868e-01 -3.91649332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-19.11, Z:-3.92 [[ 9.82265280e-01 1.87349551e-01 7.42067440e-03 1.59805077e+02] [-1.87345447e-01 9.82293296e-01 -1.25046940e-03 -1.91054145e+01] [-7.52355360e-03 -1.61936894e-04 9.99971685e-01 -3.91739903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.83, Y:-19.11, Z:-3.92 [[ 9.81896155e-01 1.89274027e-01 7.43527500e-03 1.59831936e+02] [-1.89269966e-01 9.81924290e-01 -1.25255559e-03 -1.91107860e+01] [-7.53795336e-03 -1.77394730e-04 9.99971573e-01 -3.91866929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:-19.12, Z:-3.92 [[ 9.81810911e-01 1.89712171e-01 7.52509955e-03 1.59858938e+02] [-1.89708029e-01 9.81839732e-01 -1.26697388e-03 -1.91155356e+01] [-7.62880209e-03 -1.83643022e-04 9.99970883e-01 -3.91954984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:-19.12, Z:-3.92 [[ 9.81820962e-01 1.89660566e-01 7.51450419e-03 1.59886943e+02] [-1.89656441e-01 9.81849701e-01 -1.26438279e-03 -1.91206143e+01] [-7.61791725e-03 -1.83776592e-04 9.99970966e-01 -3.92038437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:-19.13, Z:-3.92 [[ 9.81876836e-01 1.89367313e-01 7.60916734e-03 1.59914011e+02] [-1.89363078e-01 9.81906302e-01 -1.27976255e-03 -1.91256159e+01] [-7.71383456e-03 -1.84326149e-04 9.99970231e-01 -3.92110551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:-19.13, Z:-3.92 [[ 9.82218020e-01 1.87611244e-01 7.05568538e-03 1.59941080e+02] [-1.87607560e-01 9.82243349e-01 -1.18630635e-03 -1.91322159e+01] [-7.15296444e-03 -1.58488445e-04 9.99974405e-01 -3.92200269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.97, Y:-19.14, Z:-3.92 [[ 9.82428931e-01 1.86506156e-01 6.98922832e-03 1.59968035e+02] [-1.86502516e-01 9.82453781e-01 -1.17481839e-03 -1.91367748e+01] [-7.08570465e-03 -1.49333088e-04 9.99974885e-01 -3.92265799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.00, Y:-19.14, Z:-3.92 [[ 9.82821849e-01 1.84386887e-01 7.91770821e-03 1.59995539e+02] [-1.84382154e-01 9.82853729e-01 -1.32986833e-03 -1.91375052e+01] [-8.02715932e-03 -1.52860444e-04 9.99967770e-01 -3.92272628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.02, Y:-19.14, Z:-3.92 [[ 9.82964970e-01 1.83598880e-01 8.44500634e-03 1.60022180e+02] [-1.83593475e-01 9.83001234e-01 -1.41759494e-03 -1.91401128e+01] [-8.56172050e-03 -1.57001887e-04 9.99963335e-01 -3.92291249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.05, Y:-19.14, Z:-3.92 [[ 9.83123630e-01 1.82742088e-01 8.55910423e-03 1.60050159e+02] [-1.82736510e-01 9.83160875e-01 -1.43590513e-03 -1.91439420e+01] [-8.67737670e-03 -1.52388571e-04 9.99962339e-01 -3.92326022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:-19.15, Z:-3.92 [[ 9.83483479e-01 1.80797778e-01 8.50945321e-03 1.60077393e+02] [-1.80792195e-01 9.83520282e-01 -1.42712569e-03 -1.91474452e+01] [-8.62724097e-03 -1.34888184e-04 9.99962776e-01 -3.92369423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.11, Y:-19.15, Z:-3.92 [[ 9.83694041e-01 1.79653318e-01 8.40948614e-03 1.60105390e+02] [-1.79647832e-01 9.83729978e-01 -1.40945782e-03 -1.91510133e+01] [-8.52587739e-03 -1.24270686e-04 9.99963646e-01 -3.92461701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:-19.15, Z:-3.93 [[ 9.83970502e-01 1.78127451e-01 8.52417629e-03 1.60131882e+02] [-1.78121761e-01 9.84007418e-01 -1.42818664e-03 -1.91541443e+01] [-8.64225195e-03 -1.13047767e-04 9.99962649e-01 -3.92528046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.16, Y:-19.16, Z:-3.93 [[ 9.84611205e-01 1.74534794e-01 8.85325708e-03 1.60159028e+02] [-1.74528516e-01 9.84651003e-01 -1.48274925e-03 -1.91560427e+01] [-8.97615980e-03 -8.52142943e-05 9.99959710e-01 -3.92559678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.19, Y:-19.16, Z:-3.93 [[ 9.84928704e-01 1.72713784e-01 9.24100683e-03 1.60186276e+02] [-1.72706877e-01 9.84972052e-01 -1.54628587e-03 -1.91578333e+01] [-9.36919835e-03 -7.30040878e-05 9.99956105e-01 -3.92570163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-19.16, Z:-3.93 [[ 9.85528079e-01 1.69252106e-01 9.38775976e-03 1.60214490e+02] [-1.69244830e-01 9.85572789e-01 -1.56984614e-03 -1.91576028e+01] [-9.51802033e-03 -4.17023567e-05 9.99954702e-01 -3.92593202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.24, Y:-19.16, Z:-3.93 [[ 9.85754738e-01 1.67918647e-01 9.53539494e-03 1.60242765e+02] [-1.67911086e-01 9.85800856e-01 -1.59381332e-03 -1.91610499e+01] [-9.66763147e-03 -2.99894852e-05 9.99953267e-01 -3.92686544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.27, Y:-19.16, Z:-3.93 [[ 9.86037516e-01 1.66278380e-01 9.02873057e-03 1.60269829e+02] [-1.66271536e-01 9.86078851e-01 -1.50872705e-03 -1.91645741e+01] [-9.15390896e-03 -1.35594204e-05 9.99958102e-01 -3.92719396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:-19.17, Z:-3.93 [[ 9.86194138e-01 1.65377055e-01 8.45887993e-03 1.60297371e+02] [-1.65371022e-01 9.86230414e-01 -1.41256706e-03 -1.91687979e+01] [-8.57601083e-03 -5.78826765e-06 9.99963225e-01 -3.92802069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:-19.17, Z:-3.93 [[ 9.86337269e-01 1.64532822e-01 8.23062145e-03 1.60325292e+02] [-1.64527083e-01 9.86371609e-01 -1.37422758e-03 -1.91732086e+01] [-8.34455686e-03 1.29173859e-06 9.99965184e-01 -3.92860646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:-19.18, Z:-3.93 [[ 9.86486582e-01 1.63581303e-01 9.24019309e-03 1.60353023e+02] [-1.63574036e-01 9.86529856e-01 -1.54188396e-03 -1.91755889e+01] [-9.36794975e-03 9.59215447e-06 9.99956120e-01 -3.92815898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:-19.18, Z:-3.93 [[ 9.86523407e-01 1.63354455e-01 9.32149569e-03 1.60380541e+02] [-1.63347057e-01 9.86567444e-01 -1.55472665e-03 -1.91780921e+01] [-9.45025570e-03 1.11353434e-05 9.99955345e-01 -3.92829540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.41, Y:-19.18, Z:-3.93 [[ 9.86542414e-01 1.63227368e-01 9.53372143e-03 1.60408124e+02] [-1.63219629e-01 9.86588479e-01 -1.58953832e-03 -1.91796029e+01] [-9.66531588e-03 1.20564922e-05 9.99953290e-01 -3.92940361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.44, Y:-19.19, Z:-3.93 [[ 9.86560797e-01 1.63113593e-01 9.57859594e-03 1.60435195e+02] [-1.63105786e-01 9.86607296e-01 -1.59599397e-03 -1.91850855e+01] [-9.71064095e-03 1.22206667e-05 9.99952851e-01 -3.93051457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-19.19, Z:-3.93 [[ 9.86635191e-01 1.62684435e-01 9.20724998e-03 1.60461054e+02] [-1.62677204e-01 9.86678151e-01 -1.53401214e-03 -1.91922140e+01] [-9.33415229e-03 1.57006766e-05 9.99956436e-01 -3.93165523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-19.20, Z:-3.93 [[ 9.86970610e-01 1.60675589e-01 8.50705823e-03 1.60488123e+02] [-1.60669352e-01 9.87007272e-01 -1.41609342e-03 -1.92006965e+01] [-8.62405998e-03 3.08190609e-05 9.99962812e-01 -3.93266422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.51, Y:-19.21, Z:-3.93 [[ 9.87236112e-01 1.59038984e-01 8.45344340e-03 1.60514740e+02] [-1.59032769e-01 9.87272303e-01 -1.40672872e-03 -1.92054804e+01] [-8.56957524e-03 4.43988777e-05 9.99963280e-01 -3.93369823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.54, Y:-19.21, Z:-3.93 [[ 9.87245448e-01 1.58981012e-01 8.45362055e-03 1.60542862e+02] [-1.58974804e-01 9.87281640e-01 -1.40566283e-03 -1.92100226e+01] [-8.56957806e-03 4.38215614e-05 9.99963280e-01 -3.93436492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.57, Y:-19.22, Z:-3.94 [[ 9.87821133e-01 1.55424069e-01 7.26417715e-03 1.60569953e+02] [-1.55419390e-01 9.87847840e-01 -1.20763578e-03 -1.92186778e+01] [-7.36359738e-03 6.39341595e-05 9.99972886e-01 -3.93589360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:-19.23, Z:-3.94 [[ 9.88050732e-01 1.53993203e-01 6.46878796e-03 1.60596939e+02] [-1.53989463e-01 9.88071905e-01 -1.07536764e-03 -1.92258267e+01] [-6.55722695e-03 6.63926046e-05 9.99978499e-01 -3.93713467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-19.23, Z:-3.94 [[ 9.88157786e-01 1.53337575e-01 5.63730058e-03 1.60624643e+02] [-1.53334724e-01 9.88173863e-01 -9.36957716e-04 -1.92326804e+01] [-5.71430391e-03 6.14681324e-05 9.99983671e-01 -3.93776792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:-19.24, Z:-3.94 [[ 9.88093528e-01 1.53763307e-01 5.29392341e-03 1.60651160e+02] [-1.53760800e-01 9.88107708e-01 -8.79811531e-04 -1.92399041e+01] [-5.36624926e-03 5.53381815e-05 9.99985600e-01 -3.93865824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-19.25, Z:-3.94 [[ 9.87537386e-01 1.57292577e-01 5.38118941e-03 1.60678874e+02] [-1.57290045e-01 9.87552046e-01 -8.93226781e-04 -1.92509713e+01] [-5.45470256e-03 3.56873158e-05 9.99985122e-01 -3.93833869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:-19.26, Z:-3.94 [[ 9.87002224e-01 1.60618757e-01 5.31265309e-03 1.60705968e+02] [-1.60616337e-01 9.87016522e-01 -8.81819901e-04 -1.92565980e+01] [-5.38531319e-03 1.70593267e-05 9.99985499e-01 -3.93818578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.73, Y:-19.26, Z:-3.94 [[ 9.85681943e-01 1.68530962e-01 5.33125830e-03 1.60732244e+02] [-1.68528641e-01 9.85696360e-01 -8.84953350e-04 -1.92627853e+01] [-5.40414394e-03 -2.61871775e-05 9.99985397e-01 -3.93873982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.76, Y:-19.27, Z:-3.94 [[ 9.85127008e-01 1.71737365e-01 5.57279168e-03 1.60759263e+02] [-1.71734884e-01 9.85142769e-01 -9.24294182e-04 -1.92693475e+01] [-5.64873127e-03 -4.64955700e-05 9.99984045e-01 -3.93981170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:160.79, Y:-19.28, Z:-3.94 [[ 9.84136380e-01 1.77332695e-01 5.35742185e-03 1.60786499e+02] [-1.77330486e-01 9.84150959e-01 -8.88263582e-04 -1.92761496e+01] [-5.43003002e-03 -7.58617151e-05 9.99985254e-01 -3.94132702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:-19.28, Z:-3.94 [[ 9.83805897e-01 1.79147998e-01 5.65264404e-03 1.60814049e+02] [-1.79145572e-01 9.83822132e-01 -9.36691078e-04 -1.92808496e+01] [-5.72900264e-03 -9.11239449e-05 9.99983585e-01 -3.94168570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-19.29, Z:-3.94 [[ 9.83579526e-01 1.80358537e-01 6.48957406e-03 1.60841182e+02] [-1.80355371e-01 9.83600928e-01 -1.07467142e-03 -1.92853688e+01] [-6.57697724e-03 -1.13404731e-04 9.99978365e-01 -3.94249806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-19.29, Z:-3.94 [[ 9.83526967e-01 1.80584150e-01 8.00436529e-03 1.60867735e+02] [-1.80579345e-01 9.83559528e-01 -1.32505043e-03 -1.92906198e+01] [-8.11205285e-03 -1.42200208e-04 9.99967087e-01 -3.94306396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:-19.30, Z:-3.94 [[ 9.83639174e-01 1.79975624e-01 7.92155097e-03 1.60893980e+02] [-1.79970908e-01 9.83671061e-01 -1.31010830e-03 -1.92961560e+01] [-8.02798800e-03 -1.36974873e-04 9.99967766e-01 -3.94377805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.92, Y:-19.31, Z:-3.94 [[ 9.84118289e-01 1.77325941e-01 8.16726198e-03 1.60920427e+02] [-1.77320843e-01 9.84152171e-01 -1.34988586e-03 -1.93053600e+01] [-8.27719839e-03 -1.19778411e-04 9.99965736e-01 -3.94408852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.95, Y:-19.31, Z:-3.94 [[ 9.84509749e-01 1.75104113e-01 8.89404359e-03 1.60948377e+02] [-1.75097987e-01 9.84549916e-01 -1.46887499e-03 -1.93112379e+01] [-9.01383592e-03 -1.11207380e-04 9.99959368e-01 -3.94432796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.98, Y:-19.32, Z:-3.95 [[ 9.84965009e-01 1.72488468e-01 9.57385186e-03 1.60975479e+02] [-1.72481250e-01 9.85011533e-01 -1.58080984e-03 -1.93162682e+01] [-9.70302596e-03 -9.42675562e-05 9.99952920e-01 -3.94516222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.00, Y:-19.32, Z:-3.95 [[ 9.85488595e-01 1.69470265e-01 9.59467011e-03 1.61002483e+02] [-1.69462879e-01 9.85535299e-01 -1.58350659e-03 -1.93215023e+01] [-9.72424335e-03 -6.54127409e-05 9.99952716e-01 -3.94586412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:-19.33, Z:-3.95 [[ 9.86614731e-01 1.62846106e-01 8.51581228e-03 1.61030120e+02] [-1.62840046e-01 9.86651481e-01 -1.40490353e-03 -1.93295837e+01] [-8.63092188e-03 -6.16740944e-07 9.99962753e-01 -3.94697202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:-19.34, Z:-3.95 [[ 9.87159331e-01 1.59504928e-01 8.63900981e-03 1.61057438e+02] [-1.59498565e-01 9.87197132e-01 -1.42495579e-03 -1.93371975e+01] [-8.75569318e-03 2.87487408e-05 9.99961668e-01 -3.94799321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.09, Y:-19.35, Z:-3.95 [[ 9.88029762e-01 1.54039905e-01 8.30043937e-03 1.61085441e+02] [-1.54033847e-01 9.88064625e-01 -1.36811607e-03 -1.93490519e+01] [-8.41211498e-03 7.31907904e-05 9.99964615e-01 -3.94895407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-19.36, Z:-3.95 [[ 9.88297629e-01 1.52330572e-01 7.94947922e-03 1.61114410e+02] [-1.52324961e-01 9.88329596e-01 -1.31010891e-03 -1.93562335e+01] [-8.05627523e-03 8.38734138e-05 9.99967544e-01 -3.94913809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-19.36, Z:-3.95 [[ 9.88432393e-01 1.51445619e-01 8.10117223e-03 1.61142053e+02] [-1.51439763e-01 9.88465587e-01 -1.33507623e-03 -1.93627744e+01] [-8.20992141e-03 9.27929948e-05 9.99966294e-01 -3.94932643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:-19.37, Z:-3.95 [[ 9.88278611e-01 1.52452870e-01 7.96926380e-03 1.61170291e+02] [-1.52447239e-01 9.88310738e-01 -1.31286380e-03 -1.93710956e+01] [-8.07625885e-03 8.25829478e-05 9.99967383e-01 -3.94956972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:-19.38, Z:-3.95 [[ 9.88042512e-01 1.54014432e-01 7.17977959e-03 1.61199628e+02] [-1.54009904e-01 9.88068596e-01 -1.18268974e-03 -1.93773155e+01] [-7.27626603e-03 6.27905756e-05 9.99973526e-01 -3.95009074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:-19.38, Z:-3.95 [[ 9.87660964e-01 1.56463063e-01 6.71795392e-03 1.61228044e+02] [-1.56459155e-01 9.87683810e-01 -1.10668722e-03 -1.93830384e+01] [-6.80837000e-03 4.19463740e-05 9.99976822e-01 -3.95106561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.26, Y:-19.39, Z:-3.95 [[ 9.86724339e-01 1.62315169e-01 5.37267786e-03 1.61256359e+02] [-1.62312755e-01 9.86738965e-01 -8.85227280e-04 -1.93907157e+01] [-5.44511641e-03 1.42115695e-06 9.99985175e-01 -3.95250087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:-19.40, Z:-3.95 [[ 9.86251349e-01 1.65171902e-01 5.14974603e-03 1.61284461e+02] [-1.65169724e-01 9.86264793e-01 -8.48332579e-04 -1.93974733e+01] [-5.21913391e-03 -1.39129798e-05 9.99986380e-01 -3.95274203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-19.40, Z:-3.95 [[ 9.85415431e-01 1.70029375e-01 6.81472132e-03 1.61312065e+02] [-1.70025681e-01 9.85438993e-01 -1.12209568e-03 -1.94033652e+01] [-6.90628134e-03 -5.29472384e-05 9.99976150e-01 -3.95233186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-19.41, Z:-3.95 [[ 9.85032311e-01 1.72187204e-01 7.93175537e-03 1.61339320e+02] [-1.72182275e-01 9.85064242e-01 -1.30532799e-03 -1.94076134e+01] [-8.03804937e-03 -7.99174357e-05 9.99967691e-01 -3.95244907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:-19.41, Z:-3.95 [[ 9.84726040e-01 1.73870952e-01 9.13878224e-03 1.61367695e+02] [-1.73864491e-01 9.84768440e-01 -1.50291275e-03 -1.94127549e+01] [-9.26089720e-03 -1.08952398e-04 9.99957111e-01 -3.95220844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.40, Y:-19.42, Z:-3.95 [[ 9.84352379e-01 1.75829154e-01 1.15975314e-02 1.61395495e+02] [-1.75818894e-01 9.84420684e-01 -1.90642924e-03 -1.94187010e+01] [-1.17520556e-02 -1.62466988e-04 9.99930929e-01 -3.95237126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:-19.42, Z:-3.95 [[ 9.84188616e-01 1.76739720e-01 1.16550285e-02 1.61423732e+02] [-1.76729430e-01 9.84257609e-01 -1.91515781e-03 -1.94235067e+01] [-1.18100350e-02 -1.74910031e-04 9.99930244e-01 -3.95250432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-19.43, Z:-3.95 [[ 9.84049185e-01 1.77531364e-01 1.13937244e-02 1.61453214e+02] [-1.77521589e-01 9.84115127e-01 -1.87167881e-03 -1.94280733e+01] [-1.15450182e-02 -1.80808058e-04 9.99933338e-01 -3.95355798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.48, Y:-19.43, Z:-3.95 [[ 9.83711245e-01 1.79419976e-01 1.09844278e-02 1.61480936e+02] [-1.79411010e-01 9.83772552e-01 -1.80433902e-03 -1.94330215e+01] [-1.11299130e-02 -1.95778698e-04 9.99938041e-01 -3.95465199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:-19.44, Z:-3.96 [[ 9.83477694e-01 1.80752223e-01 1.00129680e-02 1.61509146e+02] [-1.80744844e-01 9.83528646e-01 -1.64462951e-03 -1.94366981e+01] [-1.01453113e-02 -1.92335900e-04 9.99948517e-01 -3.95533357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:-19.44, Z:-3.96 [[ 9.82893800e-01 1.83988536e-01 8.24599061e-03 1.61538184e+02] [-1.83983647e-01 9.82928372e-01 -1.35419936e-03 -1.94354649e+01] [-8.35437528e-03 -1.86093267e-04 9.99965084e-01 -3.95672059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.57, Y:-19.44, Z:-3.96 [[ 9.82571618e-01 1.85721232e-01 7.78709674e-03 1.61566457e+02] [-1.85716926e-01 9.82602457e-01 -1.27877669e-03 -1.94373856e+01] [-7.88911637e-03 -1.89705992e-04 9.99968862e-01 -3.95790760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:-19.44, Z:-3.96 [[ 9.82344896e-01 1.86950085e-01 6.94056160e-03 1.61594272e+02] [-1.86946698e-01 9.82369398e-01 -1.13937337e-03 -1.94398618e+01] [-7.03120126e-03 -1.78257456e-04 9.99975265e-01 -3.95880649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.62, Y:-19.44, Z:-3.96 [[ 9.82386162e-01 1.86759380e-01 6.19370842e-03 1.61624036e+02] [-1.86756681e-01 9.82405674e-01 -1.01638502e-03 -1.94382788e+01] [-6.27455373e-03 -1.58233849e-04 9.99980302e-01 -3.96027940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.65, Y:-19.44, Z:-3.96 [[ 9.82657425e-01 1.85315695e-01 6.51754845e-03 1.61652086e+02] [-1.85312676e-01 9.82679026e-01 -1.06943036e-03 -1.94387441e+01] [-6.60284040e-03 -1.56900661e-04 9.99978189e-01 -3.96152892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:-19.44, Z:-3.96 [[ 9.83734786e-01 1.79495135e-01 6.88241525e-03 1.61679388e+02] [-1.79491628e-01 9.83758853e-01 -1.12902324e-03 -1.94376589e+01] [-6.97329111e-03 -1.24676485e-04 9.99975679e-01 -3.96282692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:-19.44, Z:-3.96 [[ 9.84496879e-01 1.75254136e-01 7.20294620e-03 1.61707119e+02] [-1.75250187e-01 9.84523224e-01 -1.18072695e-03 -1.94404996e+01] [-7.29839510e-03 -9.98956722e-05 9.99973361e-01 -3.96356094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:-19.44, Z:-3.96 [[ 9.85392229e-01 1.70153892e-01 7.05751700e-03 1.61735424e+02] [-1.70149976e-01 9.85417500e-01 -1.15607907e-03 -1.94443144e+01] [-7.15131211e-03 -6.16450172e-05 9.99974427e-01 -3.96440826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:-19.45, Z:-3.97 [[ 9.86388376e-01 1.64280512e-01 7.06298578e-03 1.61763185e+02] [-1.64276440e-01 9.86413662e-01 -1.15681743e-03 -1.94489476e+01] [-7.15706823e-03 -1.92108892e-05 9.99974388e-01 -3.96538314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.79, Y:-19.46, Z:-3.97 [[ 9.88382473e-01 1.51784223e-01 7.85085622e-03 1.61790729e+02] [-1.51778802e-01 9.88413650e-01 -1.28517263e-03 -1.94558953e+01] [-7.95496238e-03 7.86485465e-05 9.99968356e-01 -3.96652705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:-19.46, Z:-3.97 [[ 9.89279793e-01 1.45772472e-01 8.71082870e-03 1.61820199e+02] [-1.45765576e-01 9.89318132e-01 -1.42473909e-03 -1.94611371e+01] [-8.82546852e-03 1.39726633e-04 9.99961045e-01 -3.96674167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:-19.46, Z:-3.97 [[ 9.90648826e-01 1.36124932e-01 9.21441838e-03 1.61850888e+02] [-1.36116804e-01 9.90691650e-01 -1.50651738e-03 -1.94645856e+01] [-9.33372193e-03 2.38192492e-04 9.99956411e-01 -3.96691026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:-19.47, Z:-3.97 [[ 9.91095152e-01 1.32875712e-01 8.62818140e-03 1.61880464e+02] [-1.32868460e-01 9.91132676e-01 -1.41084897e-03 -1.94693781e+01] [-8.73914009e-03 2.51872394e-04 9.99961781e-01 -3.96750540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.91, Y:-19.48, Z:-3.97 [[ 9.91465820e-01 1.30122435e-01 7.97993177e-03 1.61910075e+02] [-1.30116145e-01 9.91497901e-01 -1.30458550e-03 -1.94761811e+01] [-8.08184144e-03 2.55133974e-04 9.99967309e-01 -3.96836954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.94, Y:-19.48, Z:-3.97 [[ 9.91414820e-01 1.30541642e-01 7.45210510e-03 1.61937727e+02] [-1.30536164e-01 9.91442799e-01 -1.21887235e-03 -1.94821753e+01] [-7.54744953e-03 2.35638895e-04 9.99971490e-01 -3.96872529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.97, Y:-19.49, Z:-3.97 [[ 9.91210255e-01 1.32093415e-01 7.31849283e-03 1.61967105e+02] [-1.32088178e-01 9.91237248e-01 -1.19655130e-03 -1.94884326e+01] [-7.41241924e-03 2.19347536e-04 9.99972504e-01 -3.96942784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:-19.49, Z:-3.97 [[ 9.90536648e-01 1.37060443e-01 7.18223282e-03 1.61996341e+02] [-1.37055530e-01 9.90562670e-01 -1.17413533e-03 -1.94944328e+01] [-7.27537923e-03 1.78659347e-04 9.99973518e-01 -3.96892674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:-19.50, Z:-3.97 [[ 9.90114936e-01 1.40061109e-01 7.43640577e-03 1.62025647e+02] [-1.40055928e-01 9.90142848e-01 -1.21548232e-03 -1.94988289e+01] [-7.53334579e-03 1.61954484e-04 9.99971611e-01 -3.96931852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:-19.50, Z:-3.97 [[ 9.89662915e-01 1.43191217e-01 7.97435363e-03 1.62053746e+02] [-1.43185362e-01 9.89695030e-01 -1.30335550e-03 -1.95031902e+01] [-8.07880722e-03 1.48071889e-04 9.99967355e-01 -3.97020509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.08, Y:-19.51, Z:-3.97 [[ 9.88811735e-01 1.48887189e-01 9.16285169e-03 1.62081702e+02] [-1.48879705e-01 9.88854181e-01 -1.49729313e-03 -1.95090674e+01] [-9.28365197e-03 1.16378360e-04 9.99956899e-01 -3.97143653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.11, Y:-19.51, Z:-3.97 [[ 9.88508011e-01 1.50895097e-01 9.08745215e-03 1.62109251e+02] [-1.50887823e-01 9.88549776e-01 -1.48471148e-03 -1.95148161e+01] [-9.20743448e-03 9.64633246e-05 9.99957606e-01 -3.97223439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.14, Y:-19.52, Z:-3.97 [[ 9.88102791e-01 1.53523391e-01 9.13473235e-03 1.62137130e+02] [-1.53516160e-01 9.88145011e-01 -1.49171730e-03 -1.95224768e+01] [-9.25545370e-03 7.16409917e-05 9.99957165e-01 -3.97350382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:-19.53, Z:-3.97 [[ 9.87964526e-01 1.54434093e-01 8.72962574e-03 1.62166235e+02] [-1.54427531e-01 9.88003091e-01 -1.42486342e-03 -1.95284056e+01] [-8.84494470e-03 5.96199628e-05 9.99960881e-01 -3.97419290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-19.53, Z:-3.98 [[ 9.87853287e-01 1.55185437e-01 7.96009148e-03 1.62195294e+02] [-1.55180007e-01 9.87885357e-01 -1.29911343e-03 -1.95335517e+01] [-8.06526129e-03 4.80864277e-05 9.99967474e-01 -3.97502754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:-19.54, Z:-3.98 [[ 9.87638100e-01 1.56627769e-01 6.22298930e-03 1.62223212e+02] [-1.56624478e-01 9.87657704e-01 -1.01579183e-03 -1.95389157e+01] [-6.30528454e-03 2.85622605e-05 9.99980121e-01 -3.97642706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-19.54, Z:-3.98 [[ 9.87553403e-01 1.57158627e-01 6.28030833e-03 1.62251904e+02] [-1.57155285e-01 9.87573372e-01 -1.02509999e-03 -1.95445651e+01] [-6.36336858e-03 2.53573314e-05 9.99979753e-01 -3.97710454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.28, Y:-19.55, Z:-3.98 [[ 9.87358443e-01 1.58339397e-01 7.20695710e-03 1.62279004e+02] [-1.58335031e-01 9.87384745e-01 -1.17602481e-03 -1.95521785e+01] [-7.30225056e-03 2.00442471e-05 9.99973338e-01 -3.97785158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.31, Y:-19.56, Z:-3.98 [[ 9.87287799e-01 1.58784800e-01 7.08443217e-03 1.62307608e+02] [-1.58780600e-01 9.87313216e-01 -1.15503926e-03 -1.95582885e+01] [-7.17795619e-03 1.54857771e-05 9.99974238e-01 -3.97857600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:-19.56, Z:-3.98 [[ 9.87293566e-01 1.58748938e-01 7.08442845e-03 1.62336563e+02] [-1.58744736e-01 9.87318983e-01 -1.15506216e-03 -1.95629213e+01] [-7.17795558e-03 1.57697090e-05 9.99974238e-01 -3.97926222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:-19.57, Z:-3.98 [[ 9.87218526e-01 1.59240215e-01 6.49126384e-03 1.62365516e+02] [-1.59236701e-01 9.87239866e-01 -1.05797910e-03 -1.95692569e+01] [-6.57690727e-03 1.08091252e-05 9.99978372e-01 -3.98023239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:-19.58, Z:-3.98 [[ 9.87177479e-01 1.59514890e-01 5.96869227e-03 1.62394938e+02] [-1.59511925e-01 9.87195523e-01 -9.72700934e-04 -1.95753230e+01] [-6.04742657e-03 8.15086369e-06 9.99981714e-01 -3.98104045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.42, Y:-19.58, Z:-3.98 [[ 9.87087624e-01 1.60064546e-01 6.11262362e-03 1.62423195e+02] [-1.60061446e-01 9.87106550e-01 -9.96200549e-04 -1.95802895e+01] [-6.19326721e-03 4.94185905e-06 9.99980822e-01 -3.98274973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:-19.59, Z:-3.98 [[ 9.86996232e-01 1.60640427e-01 5.75248061e-03 1.62451944e+02] [-1.60637691e-01 9.87012996e-01 -9.37556034e-04 -1.95854634e+01] [-5.82838252e-03 1.29907316e-06 9.99983015e-01 -3.98291301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.48, Y:-19.59, Z:-3.98 [[ 9.86742593e-01 1.62199855e-01 5.50106435e-03 1.62478771e+02] [-1.62197377e-01 9.86757927e-01 -8.96570801e-04 -1.95916867e+01] [-5.57364251e-03 -7.57360981e-06 9.99984467e-01 -3.98322464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:-19.60, Z:-3.98 [[ 9.86552062e-01 1.63328550e-01 6.23008959e-03 1.62506712e+02] [-1.63325400e-01 9.86571733e-01 -1.01459822e-03 -1.95972257e+01] [-6.31214314e-03 -1.65779112e-05 9.99980078e-01 -3.98378567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.53, Y:-19.60, Z:-3.98 [[ 9.86283576e-01 1.64921928e-01 6.74280454e-03 1.62534492e+02] [-1.64918276e-01 9.86306624e-01 -1.09786600e-03 -1.96022459e+01] [-6.83153496e-03 -2.92044934e-05 9.99976664e-01 -3.98409198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:-19.61, Z:-3.98 [[ 9.85644659e-01 1.68684136e-01 7.09006999e-03 1.62562914e+02] [-1.68680201e-01 9.85670157e-01 -1.15373880e-03 -1.96050443e+01] [-7.18308783e-03 -5.87779394e-05 9.99974200e-01 -3.98436198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.59, Y:-19.61, Z:-3.98 [[ 9.85272488e-01 1.70810411e-01 7.86947908e-03 1.62591244e+02] [-1.70805635e-01 9.85303911e-01 -1.28004364e-03 -1.96076960e+01] [-7.97247329e-03 -8.29595903e-05 9.99968216e-01 -3.98460445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.62, Y:-19.61, Z:-3.99 [[ 9.84888162e-01 1.73005668e-01 8.02162367e-03 1.62619443e+02] [-1.73000780e-01 9.84920823e-01 -1.30455269e-03 -1.96101456e+01] [-8.12635920e-03 -1.02908646e-04 9.99966975e-01 -3.98521101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.65, Y:-19.61, Z:-3.99 [[ 9.83970134e-01 1.78203761e-01 6.79662787e-03 1.62648199e+02] [-1.78200378e-01 9.83993600e-01 -1.10509903e-03 -1.96090082e+01] [-6.88477112e-03 -1.23777216e-04 9.99976292e-01 -3.98642713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-19.61, Z:-3.99 [[ 9.83508404e-01 1.80738961e-01 6.68184075e-03 1.62677488e+02] [-1.80735753e-01 9.83531092e-01 -1.08584886e-03 -1.96108587e+01] [-6.76805333e-03 -1.39706043e-04 9.99977087e-01 -3.98716702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:-19.61, Z:-3.99 [[ 9.82796631e-01 1.84562515e-01 6.88913885e-03 1.62705971e+02] [-1.84559199e-01 9.82820761e-01 -1.11956036e-03 -1.96098785e+01] [-6.97741757e-03 -1.71153801e-04 9.99975643e-01 -3.98850606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:-19.61, Z:-3.99 [[ 9.82600477e-01 1.85607944e-01 6.78184886e-03 1.62732779e+02] [-1.85604757e-01 9.82623865e-01 -1.10185001e-03 -1.96111916e+01] [-6.86851866e-03 -1.76065068e-04 9.99976396e-01 -3.98891066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.76, Y:-19.61, Z:-3.99 [[ 9.82526343e-01 1.85993905e-01 6.94639899e-03 1.62760518e+02] [-1.85990576e-01 9.82550881e-01 -1.12777651e-03 -1.96128012e+01] [-7.03495000e-03 -1.83894620e-04 9.99975238e-01 -3.98964315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.79, Y:-19.61, Z:-3.99 [[ 9.82889298e-01 1.84069853e-01 6.84960242e-03 1.62788996e+02] [-1.84066573e-01 9.82913150e-01 -1.11164188e-03 -1.96113687e+01] [-6.93718405e-03 -1.68161937e-04 9.99975923e-01 -3.99075102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:-19.61, Z:-3.99 [[ 9.83317884e-01 1.81768012e-01 6.80656944e-03 1.62816690e+02] [-1.81764721e-01 9.83341429e-01 -1.10416784e-03 -1.96124563e+01] [-6.89388411e-03 -1.51446212e-04 9.99976225e-01 -3.99194613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.84, Y:-19.61, Z:-3.99 [[ 9.83905798e-01 1.78552129e-01 6.96552317e-03 1.62843727e+02] [-1.78548605e-01 9.83930445e-01 -1.12958356e-03 -1.96140285e+01] [-7.05527986e-03 -1.32280635e-04 9.99975102e-01 -3.99291690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:-19.62, Z:-3.99 [[ 9.85395646e-01 1.70151105e-01 6.63500618e-03 1.62872325e+02] [-1.70147724e-01 9.85417981e-01 -1.07489051e-03 -1.96169815e+01] [-6.72114820e-03 -6.97387724e-05 9.99977410e-01 -3.99393728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.90, Y:-19.62, Z:-3.99 [[ 9.86184578e-01 1.65530647e-01 6.29157862e-03 1.62900140e+02] [-1.65527513e-01 9.86204646e-01 -1.01919871e-03 -1.96208211e+01] [-6.37349269e-03 -3.63113141e-05 9.99979688e-01 -3.99441639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.93, Y:-19.62, Z:-4.00 [[ 9.86936496e-01 1.61002507e-01 5.87758072e-03 1.62928634e+02] [-1.60999695e-01 9.86953997e-01 -9.51640381e-04 -1.96242458e+01] [-5.95411828e-03 -7.08008013e-06 9.99982274e-01 -3.99515764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:-19.63, Z:-4.00 [[ 9.88179601e-01 1.53220970e-01 4.94061651e-03 1.62956634e+02] [-1.53218884e-01 9.88191952e-01 -8.00092911e-04 -1.96283325e+01] [-5.00486848e-03 3.36397441e-05 9.99987475e-01 -3.99605813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:-19.63, Z:-4.00 [[ 9.88630508e-01 1.50272969e-01 5.26808838e-03 1.62985332e+02] [-1.50270559e-01 9.88644543e-01 -8.52488227e-04 -1.96331512e+01] [-5.33637277e-03 5.11572815e-05 9.99985760e-01 -3.99605160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-19.64, Z:-4.00 [[ 9.89078392e-01 1.47224758e-01 6.98602206e-03 1.63013019e+02] [-1.47220449e-01 9.89103060e-01 -1.12996139e-03 -1.96360319e+01] [-7.07625409e-03 8.91350869e-05 9.99974959e-01 -3.99582642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:-19.64, Z:-4.00 [[ 9.89124389e-01 1.46904184e-01 7.21828955e-03 1.63040481e+02] [-1.46899579e-01 9.89150723e-01 -1.16704134e-03 -1.96401288e+01] [-7.31141958e-03 9.39853632e-05 9.99973267e-01 -3.99647241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.07, Y:-19.64, Z:-4.00 [[ 9.89060700e-01 1.47342886e-01 7.00043103e-03 1.63067843e+02] [-1.47338568e-01 9.89085470e-01 -1.13142841e-03 -1.96448595e+01] [-7.09073254e-03 8.76178920e-05 9.99974857e-01 -3.99680320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:-19.65, Z:-4.00 [[ 9.88915363e-01 1.48338917e-01 6.47842358e-03 1.63096462e+02] [-1.48335243e-01 9.88936581e-01 -1.04658468e-03 -1.96493816e+01] [-6.56199930e-03 7.40051329e-05 9.99978467e-01 -3.99687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.12, Y:-19.65, Z:-4.00 [[ 9.88376896e-01 1.51852353e-01 7.20930688e-03 1.63123954e+02] [-1.51847900e-01 9.88403187e-01 -1.16437289e-03 -1.96505789e+01] [-7.30251466e-03 5.61211523e-05 9.99973335e-01 -3.99762013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:163.15, Y:-19.65, Z:-4.00 [[ 9.88000310e-01 1.54292744e-01 7.00969190e-03 1.63152798e+02] [-1.54288599e-01 9.88025176e-01 -1.13155370e-03 -1.96527461e+01] [-7.10034260e-03 3.64598655e-05 9.99974792e-01 -3.99868643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.18, Y:-19.66, Z:-4.00 [[ 9.87618600e-01 1.56725472e-01 6.82844850e-03 1.63181200e+02] [-1.56721599e-01 9.87642205e-01 -1.10201066e-03 -1.96557096e+01] [-6.91677708e-03 1.82008566e-05 9.99976079e-01 -3.99882963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.21, Y:-19.66, Z:-4.00 [[ 9.86840077e-01 1.61566676e-01 6.54760361e-03 1.63209272e+02] [-1.61563222e-01 9.86861798e-01 -1.05663583e-03 -1.96580566e+01] [-6.63229702e-03 -1.51213538e-05 9.99978006e-01 -3.99981918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:-19.66, Z:-4.00 [[ 9.86564552e-01 1.63236042e-01 6.66172169e-03 1.63236392e+02] [-1.63232504e-01 9.86587043e-01 -1.07502170e-03 -1.96609377e+01] [-6.74785059e-03 -2.68312150e-05 9.99977233e-01 -4.00076056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.26, Y:-19.66, Z:-4.00 [[ 9.86280189e-01 1.64939131e-01 6.81700079e-03 1.63263959e+02] [-1.64935473e-01 9.86303747e-01 -1.09919234e-03 -1.96627733e+01] [-6.90493325e-03 -4.02536223e-05 9.99976160e-01 -4.00132139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:-19.67, Z:-4.00 [[ 9.86312191e-01 1.64775941e-01 6.09512105e-03 1.63291316e+02] [-1.64773015e-01 9.86331024e-01 -9.82555198e-04 -1.96669993e+01] [-6.17370844e-03 -3.52053010e-05 9.99980942e-01 -4.00178838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:-19.67, Z:-4.00 [[ 9.86468782e-01 1.63839737e-01 5.99024293e-03 1.63318351e+02] [-1.63836893e-01 9.86486969e-01 -9.65860923e-04 -1.96707199e+01] [-6.06754299e-03 -2.86311406e-05 9.99981592e-01 -4.00222921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.35, Y:-19.67, Z:-4.00 [[ 9.86637049e-01 1.62797318e-01 6.66091551e-03 1.63345919e+02] [-1.62793788e-01 9.86659532e-01 -1.07237841e-03 -1.96730854e+01] [-6.74663611e-03 -2.63073966e-05 9.99977241e-01 -4.00220592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.37, Y:-19.67, Z:-4.00 [[ 9.86913304e-01 1.61046052e-01 8.14242421e-03 1.63373328e+02] [-1.61040725e-01 9.86946893e-01 -1.31007253e-03 -1.96728658e+01] [-8.24712228e-03 -1.83338893e-05 9.99965992e-01 -4.00206558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.40, Y:-19.68, Z:-4.00 [[ 9.87129021e-01 1.59696190e-01 8.56871855e-03 1.63400855e+02] [-1.59690248e-01 9.87166210e-01 -1.37761770e-03 -1.96758413e+01] [-8.67874972e-03 -8.45438200e-06 9.99962339e-01 -4.00256091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.43, Y:-19.68, Z:-4.00 [[ 9.87243809e-01 1.58943333e-01 9.31013510e-03 1.63427436e+02] [-1.58936291e-01 9.87287707e-01 -1.49613774e-03 -1.96787256e+01] [-9.42958306e-03 -2.66562563e-06 9.99955540e-01 -4.00337909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.45, Y:-19.68, Z:-4.00 [[ 9.87351040e-01 1.58269375e-01 9.41962865e-03 1.63454128e+02] [-1.58262141e-01 9.87395972e-01 -1.51318118e-03 -1.96815930e+01] [-9.54039362e-03 3.27041979e-06 9.99954489e-01 -4.00387779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:-19.69, Z:-4.00 [[ 9.87603214e-01 1.56722664e-01 8.82605125e-03 1.63482823e+02] [-1.56716266e-01 9.87642651e-01 -1.41620123e-03 -1.96853192e+01] [-8.93893549e-03 1.54590942e-05 9.99960047e-01 -4.00443533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:-19.69, Z:-4.00 [[ 9.87691328e-01 1.56176665e-01 8.64238324e-03 1.63509937e+02] [-1.56170509e-01 9.87729137e-01 -1.38685290e-03 -1.96888566e+01] [-8.75292780e-03 2.00971960e-05 9.99961692e-01 -4.00473563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.54, Y:-19.69, Z:-4.00 [[ 9.87715877e-01 1.56007318e-01 8.89174968e-03 1.63537982e+02] [-1.56000803e-01 9.87755899e-01 -1.42592174e-03 -1.96921011e+01] [-9.00533242e-03 2.12854492e-05 9.99959451e-01 -4.00481284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:-19.70, Z:-4.00 [[ 9.87652833e-01 1.56373175e-01 9.45052305e-03 1.63564377e+02] [-1.56365838e-01 9.87698046e-01 -1.51488308e-03 -1.96950859e+01] [-9.57115023e-03 1.84396136e-05 9.99954195e-01 -4.00488515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.59, Y:-19.70, Z:-4.01 [[ 9.87609071e-01 1.56656600e-01 9.32916357e-03 1.63591629e+02] [-1.56649472e-01 9.87653132e-01 -1.49447799e-03 -1.96999849e+01] [-9.44809746e-03 1.45514761e-05 9.99955366e-01 -4.00557447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.62, Y:-19.70, Z:-4.01 [[ 9.87447404e-01 1.57679635e-01 9.20634476e-03 1.63618097e+02] [-1.57672740e-01 9.87490320e-01 -1.47453598e-03 -1.97037425e+01] [-9.32368064e-03 4.43712277e-06 9.99956534e-01 -4.00579715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:-19.71, Z:-4.01 [[ 9.87296535e-01 1.58629302e-01 9.07178316e-03 1.63646041e+02] [-1.58622659e-01 9.87338212e-01 -1.45170406e-03 -1.97064825e+01] [-9.18720097e-03 -5.72797938e-06 9.99957797e-01 -4.00646801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.67, Y:-19.71, Z:-4.01 [[ 9.87069504e-01 1.60067226e-01 8.50155333e-03 1.63672965e+02] [-1.60061446e-01 9.87106115e-01 -1.36046266e-03 -1.97092550e+01] [-8.60970077e-03 -1.78997136e-05 9.99962936e-01 -4.00717125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:-19.71, Z:-4.01 [[ 9.86436196e-01 1.63958180e-01 7.83241571e-03 1.63700604e+02] [-1.63953405e-01 9.86467289e-01 -1.25218329e-03 -1.97121195e+01] [-7.93172758e-03 -4.89523096e-05 9.99968542e-01 -4.00815656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.73, Y:-19.72, Z:-4.01 [[ 9.86098154e-01 1.65983951e-01 7.73035883e-03 1.63728348e+02] [-1.65979367e-01 9.86128452e-01 -1.23533415e-03 -1.97159406e+01] [-7.82817243e-03 -6.49193459e-05 9.99969357e-01 -4.00908666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.76, Y:-19.72, Z:-4.01 [[ 9.85420559e-01 1.69932067e-01 8.33157991e-03 1.63755930e+02] [-1.69926889e-01 9.85455774e-01 -1.33068918e-03 -1.97200047e+01] [-8.43653029e-03 -1.04470982e-04 9.99964406e-01 -4.00944171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.78, Y:-19.72, Z:-4.01 [[ 9.85120084e-01 1.71653261e-01 8.57773186e-03 1.63782331e+02] [-1.71647842e-01 9.85157420e-01 -1.36950105e-03 -1.97235312e+01] [-8.68549551e-03 -1.23226166e-04 9.99962273e-01 -4.00945010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.81, Y:-19.73, Z:-4.01 [[ 9.84826355e-01 1.73327833e-01 8.63208213e-03 1.63810727e+02] [-1.73322417e-01 9.84864175e-01 -1.37730488e-03 -1.97264011e+01] [-8.74015371e-03 -1.39727197e-04 9.99961794e-01 -4.00909080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:-19.73, Z:-4.01 [[ 9.84562766e-01 1.74784165e-01 9.30893822e-03 1.63837402e+02] [-1.74777938e-01 9.84606758e-01 -1.48462422e-03 -1.97277473e+01] [-9.42513229e-03 -1.65291291e-04 9.99955569e-01 -4.00945483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.87, Y:-19.73, Z:-4.01 [[ 9.84203758e-01 1.76763639e-01 9.87816574e-03 1.63865665e+02] [-1.76756738e-01 9.84253309e-01 -1.57423991e-03 -1.97275924e+01] [-1.00008857e-02 -1.96659525e-04 9.99949971e-01 -4.01015037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:-19.73, Z:-4.01 [[ 9.84166445e-01 1.76996762e-01 9.41030573e-03 1.63892230e+02] [-1.76990514e-01 9.84211415e-01 -1.49922182e-03 -1.97307583e+01] [-9.52708773e-03 -1.90051044e-04 9.99954598e-01 -4.01103912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.92, Y:-19.73, Z:-4.01 [[ 9.84416534e-01 1.75615036e-01 9.13493702e-03 1.63919814e+02] [-1.75609098e-01 9.84458902e-01 -1.45443186e-03 -1.97330131e+01] [-9.24839017e-03 -1.72411276e-04 9.99957218e-01 -4.01217617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.95, Y:-19.74, Z:-4.01 [[ 9.84660343e-01 1.74203159e-01 9.86242836e-03 1.63946711e+02] [-1.74196174e-01 9.84709718e-01 -1.56956745e-03 -1.97352490e+01] [-9.98505266e-03 -1.72506456e-04 9.99950133e-01 -4.01276774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.97, Y:-19.74, Z:-4.01 [[ 9.85251002e-01 1.70862319e-01 9.30225837e-03 1.63974564e+02] [-1.70855963e-01 9.85294905e-01 -1.47959501e-03 -1.97371824e+01] [-9.41827482e-03 -1.31573853e-04 9.99955638e-01 -4.01382149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.00, Y:-19.74, Z:-4.01 [[ 9.85524564e-01 1.69320519e-01 8.47913911e-03 1.64001481e+02] [-1.69315184e-01 9.85561033e-01 -1.34837015e-03 -1.97407678e+01] [-8.58501584e-03 -1.06795091e-04 9.99963142e-01 -4.01418281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:-19.74, Z:-4.02 [[ 9.85754260e-01 1.67990386e-01 8.23222578e-03 1.64028625e+02] [-1.67985317e-01 9.85788629e-01 -1.30843959e-03 -1.97439394e+01] [-8.33503984e-03 -9.30931577e-05 9.99965259e-01 -4.01521490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.06, Y:-19.75, Z:-4.02 [[ 9.85886135e-01 1.67238350e-01 7.73712376e-03 1.64056552e+02] [-1.67233853e-01 9.85916491e-01 -1.22908362e-03 -1.97467151e+01] [-7.83370782e-03 -8.21725185e-05 9.99969313e-01 -4.01586197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:-19.75, Z:-4.02 [[ 9.85896435e-01 1.67177615e-01 7.73724463e-03 1.64084704e+02] [-1.67173123e-01 9.85926792e-01 -1.22832180e-03 -1.97510523e+01] [-7.83370469e-03 -8.24612642e-05 9.99969313e-01 -4.01652866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.11, Y:-19.75, Z:-4.02 [[ 9.85957434e-01 1.66872354e-01 6.44640006e-03 1.64111770e+02] [-1.66869227e-01 9.85978505e-01 -1.02364387e-03 -1.97520209e+01] [-6.52682976e-03 -6.64365150e-05 9.99978698e-01 -4.01795568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.14, Y:-19.75, Z:-4.02 [[ 9.85959262e-01 1.66876084e-01 6.05855446e-03 1.64139435e+02] [-1.66873326e-01 9.85977874e-01 -9.61433553e-04 -1.97539242e+01] [-6.13404091e-03 -6.30768180e-05 9.99981185e-01 -4.01869167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:-19.75, Z:-4.02 [[ 9.85942602e-01 1.66974923e-01 6.04652351e-03 1.64166435e+02] [-1.66972180e-01 9.85961141e-01 -9.59278998e-04 -1.97530149e+01] [-6.12181275e-03 -6.38071797e-05 9.99981259e-01 -4.01996725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:-19.76, Z:-4.02 [[ 9.86046392e-01 1.66375704e-01 5.62467972e-03 1.64194264e+02] [-1.66373324e-01 9.86062433e-01 -8.91720176e-04 -1.97562746e+01] [-5.69464594e-03 -5.65191977e-05 9.99983784e-01 -4.02129111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:-19.76, Z:-4.02 [[ 9.86252248e-01 1.65160760e-01 5.33169735e-03 1.64221869e+02] [-1.65158605e-01 9.86266658e-01 -8.45014380e-04 -1.97604179e+01] [-5.39803854e-03 -4.71783636e-05 9.99985429e-01 -4.02228099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.25, Y:-19.76, Z:-4.02 [[ 9.86847176e-01 1.61545712e-01 5.96950688e-03 1.64248171e+02] [-1.61542947e-01 9.86865230e-01 -9.45659541e-04 -1.97644225e+01] [-6.04386603e-03 -3.11102867e-05 9.99981735e-01 -4.02316819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.28, Y:-19.77, Z:-4.02 [[ 9.87216869e-01 1.59265884e-01 6.10186106e-03 1.64276131e+02] [-1.59262956e-01 9.87235726e-01 -9.65832241e-04 -1.97679732e+01] [-6.17779936e-03 -1.83145503e-05 9.99980917e-01 -4.02362654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.30, Y:-19.77, Z:-4.02 [[ 9.87535512e-01 1.57263778e-01 6.45889552e-03 1.64303664e+02] [-1.57260458e-01 9.87556633e-01 -1.02182024e-03 -1.97710316e+01] [-6.53922043e-03 -6.64509807e-06 9.99978619e-01 -4.02385899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.33, Y:-19.77, Z:-4.02 [[ 9.88089357e-01 1.53690849e-01 7.65149495e-03 1.64331984e+02] [-1.53686090e-01 9.88118982e-01 -1.20962413e-03 -1.97723983e+01] [-7.74649556e-03 1.92883909e-05 9.99969995e-01 -4.02322456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.36, Y:-19.78, Z:-4.02 [[ 9.88298704e-01 1.52324886e-01 7.92475916e-03 1.64359743e+02] [-1.52319742e-01 9.88330475e-01 -1.25216001e-03 -1.97762878e+01] [-8.02301612e-03 3.04108386e-05 9.99967815e-01 -4.02406970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:-19.78, Z:-4.03 [[ 9.88484764e-01 1.51154769e-01 7.07864095e-03 1.64387689e+02] [-1.51150637e-01 9.88510109e-01 -1.11811934e-03 -1.97815192e+01] [-7.16631720e-03 3.53028379e-05 9.99974321e-01 -4.02523649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.41, Y:-19.79, Z:-4.03 [[ 9.88841460e-01 1.48840158e-01 6.25896625e-03 1.64414185e+02] [-1.48836882e-01 9.88861267e-01 -9.88579716e-04 -1.97878455e+01] [-6.33638966e-03 4.59835900e-05 9.99979924e-01 -4.02636162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-19.79, Z:-4.03 [[ 9.88950323e-01 1.48100355e-01 6.59875978e-03 1.64442064e+02] [-1.48096703e-01 9.88972336e-01 -1.04132224e-03 -1.97918234e+01] [-6.68021107e-03 5.25614018e-05 9.99977686e-01 -4.02667293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.47, Y:-19.80, Z:-4.03 [[ 9.88968762e-01 1.48015692e-01 5.66941781e-03 1.64470332e+02] [-1.48012996e-01 9.88985011e-01 -8.94491189e-04 -1.97952537e+01] [-5.73936797e-03 4.54763267e-05 9.99983529e-01 -4.02738371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.50, Y:-19.80, Z:-4.03 [[ 9.88892722e-01 1.48565097e-01 4.42666953e-03 1.64497792e+02] [-1.48563459e-01 9.88902630e-01 -6.98455058e-04 -1.97983946e+01] [-4.48131118e-03 3.30557873e-05 9.99989958e-01 -4.02778004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.53, Y:-19.80, Z:-4.03 [[ 9.88754492e-01 1.49486080e-01 4.29734090e-03 1.64525253e+02] [-1.49484545e-01 9.88763830e-01 -6.77819887e-04 -1.98014259e+01] [-4.35037988e-03 2.78114071e-05 9.99990537e-01 -4.02898976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.55, Y:-19.81, Z:-4.03 [[ 9.88498606e-01 1.51197820e-01 3.11846842e-03 1.64551721e+02] [-1.51197019e-01 9.88503525e-01 -4.92339203e-04 -1.98052079e+01] [-3.15705764e-03 1.51734866e-05 9.99995016e-01 -4.03032368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.58, Y:-19.81, Z:-4.03 [[ 9.88400278e-01 1.51846711e-01 2.73269082e-03 1.64579131e+02] [-1.51846099e-01 9.88404055e-01 -4.31188763e-04 -1.98101495e+01] [-2.76647729e-03 1.12386513e-05 9.99996173e-01 -4.03151808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:-19.82, Z:-4.03 [[ 9.88200001e-01 1.53140121e-01 2.97682610e-03 1.64606930e+02] [-1.53139402e-01 9.88204485e-01 -4.69369703e-04 -1.98157862e+01] [-3.01359223e-03 7.96177279e-06 9.99995459e-01 -4.03173614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.64, Y:-19.82, Z:-4.03 [[ 9.88125837e-01 1.53609856e-01 3.36785925e-03 1.64635202e+02] [-1.53608940e-01 9.88131576e-01 -5.30619357e-04 -1.98193270e+01] [-3.40939644e-03 6.98540571e-06 9.99994188e-01 -4.03225020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:-19.82, Z:-4.03 [[ 9.88018081e-01 1.54297983e-01 3.52202216e-03 1.64662534e+02] [-1.54296986e-01 9.88024358e-01 -5.54798046e-04 -1.98218770e+01] [-3.56544791e-03 4.71309773e-06 9.99993644e-01 -4.03249571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.69, Y:-19.82, Z:-4.03 [[ 9.87943228e-01 1.54762555e-01 4.09017494e-03 1.64691004e+02] [-1.54761218e-01 9.87951695e-01 -6.43305359e-04 -1.98236495e+01] [-4.14045484e-03 2.54871761e-06 9.99991428e-01 -4.03351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.72, Y:-19.83, Z:-4.03 [[ 9.88003672e-01 1.54365428e-01 4.47874727e-03 1.64718918e+02] [-1.54363823e-01 9.88013823e-01 -7.03963596e-04 -1.98283648e+01] [-4.53373185e-03 4.16206567e-06 9.99989723e-01 -4.03428868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:-19.83, Z:-4.03 [[ 9.88108560e-01 1.53679371e-01 4.91159333e-03 1.64745705e+02] [-1.53677434e-01 9.88120767e-01 -7.71690859e-04 -1.98337496e+01] [-4.97184034e-03 7.71328513e-06 9.99987640e-01 -4.03496603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:-19.84, Z:-4.04 [[ 9.88437842e-01 1.51554225e-01 4.68502653e-03 1.64772820e+02] [-1.51552441e-01 9.88448945e-01 -7.35544024e-04 -1.98397001e+01] [-4.74238433e-03 1.70123394e-05 9.99988755e-01 -4.03584826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:-19.84, Z:-4.04 [[ 9.88638664e-01 1.50248871e-01 4.34392028e-03 1.64800018e+02] [-1.50247325e-01 9.88648207e-01 -6.81851228e-04 -1.98449063e+01] [-4.39705637e-03 2.14420832e-05 9.99990333e-01 -4.03650975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.83, Y:-19.85, Z:-4.04 [[ 9.89144017e-01 1.46868682e-01 4.86857669e-03 1.64827089e+02] [-1.46866703e-01 9.89155998e-01 -7.63667928e-04 -1.98523800e+01] [-4.92794074e-03 4.03457568e-05 9.99987857e-01 -4.03691410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:-19.86, Z:-4.04 [[ 9.89381651e-01 1.45248935e-01 5.16680440e-03 1.64853593e+02] [-1.45246685e-01 9.89395141e-01 -8.10170132e-04 -1.98582387e+01] [-5.22968752e-03 5.11062520e-05 9.99986324e-01 -4.03719729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.88, Y:-19.86, Z:-4.04 [[ 9.89596862e-01 1.43771372e-01 5.27678147e-03 1.64880736e+02] [-1.43769007e-01 9.89610928e-01 -8.26724629e-04 -1.98639780e+01] [-5.34081995e-03 5.94864661e-05 9.99985736e-01 -4.03795226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.91, Y:-19.87, Z:-4.04 [[ 9.89738137e-01 1.42798253e-01 5.20378182e-03 1.64907467e+02] [-1.42795941e-01 9.89751815e-01 -8.15139778e-04 -1.98699855e+01] [-5.26685304e-03 6.36960048e-05 9.99986128e-01 -4.03862781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.93, Y:-19.88, Z:-4.04 [[ 9.89789143e-01 1.42425563e-01 5.69304961e-03 1.64933907e+02] [-1.42422795e-01 9.89805513e-01 -8.90861083e-04 -1.98795500e+01] [-5.76189329e-03 7.09445899e-05 9.99983398e-01 -4.03911332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:-19.89, Z:-4.04 [[ 9.89687436e-01 1.43126174e-01 5.80314069e-03 1.64959777e+02] [-1.43123311e-01 9.89704448e-01 -9.07832693e-04 -1.98858970e+01] [-5.87332877e-03 6.79059025e-05 9.99982750e-01 -4.03910938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:-19.89, Z:-4.04 [[ 9.89220352e-01 1.46319093e-01 5.81539772e-03 1.64986828e+02] [-1.46316277e-01 9.89237444e-01 -9.09063453e-04 -1.98932964e+01] [-5.88582252e-03 4.83767242e-05 9.99982677e-01 -4.03935041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:-19.90, Z:-4.04 [[ 9.88895493e-01 1.48529713e-01 4.96272176e-03 1.65013297e+02] [-1.48527689e-01 9.88907945e-01 -7.75880462e-04 -1.98979562e+01] [-5.02291628e-03 3.01630954e-05 9.99987385e-01 -4.03981209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:-19.90, Z:-4.04 [[ 9.88056551e-01 1.54036682e-01 4.11744889e-03 1.65040993e+02] [-1.54035338e-01 9.88065130e-01 -6.43538159e-04 -1.99022980e+01] [-4.16743615e-03 1.61946373e-06 9.99991316e-01 -4.04072455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.07, Y:-19.91, Z:-4.04 [[ 9.87664710e-01 1.56521816e-01 4.39795294e-03 1.65067853e+02] [-1.56520304e-01 9.87674502e-01 -6.87971626e-04 -1.99068893e+01] [-4.45142854e-03 -8.88363604e-06 9.99990092e-01 -4.04209774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:-19.91, Z:-4.04 [[ 9.87319794e-01 1.58690572e-01 4.11419756e-03 1.65094778e+02] [-1.58689273e-01 9.87328366e-01 -6.42373104e-04 -1.99121012e+01] [-4.16400251e-03 -1.86513383e-05 9.99991330e-01 -4.04293502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.12, Y:-19.92, Z:-4.04 [[ 9.87015400e-01 1.60583516e-01 3.67903025e-03 1.65122092e+02] [-1.60582492e-01 9.87022256e-01 -5.73992826e-04 -1.99176986e+01] [-3.72345852e-03 -2.42480859e-05 9.99993068e-01 -4.04345266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-19.92, Z:-4.04 [[ 9.86504088e-01 1.63702479e-01 3.34394345e-03 1.65149601e+02] [-1.63701651e-01 9.86509755e-01 -5.21689528e-04 -1.99234586e+01] [-3.38423470e-03 -3.27602114e-05 9.99994273e-01 -4.04389371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-19.93, Z:-4.04 [[ 9.86324805e-01 1.64778927e-01 3.35930959e-03 1.65176513e+02] [-1.64778095e-01 9.86330525e-01 -5.24868758e-04 -1.99279678e+01] [-3.39987690e-03 -3.58495604e-05 9.99994220e-01 -4.04446038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.20, Y:-19.93, Z:-4.05 [[ 9.85998214e-01 1.66702683e-01 4.21167906e-03 1.65204147e+02] [-1.66701403e-01 9.86007207e-01 -6.55721348e-04 -1.99334750e+01] [-4.26205642e-03 -5.55527294e-05 9.99990916e-01 -4.04506952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-19.94, Z:-4.05 [[ 9.85900841e-01 1.67265071e-01 4.68280519e-03 1.65231424e+02] [-1.67263497e-01 9.85911960e-01 -7.28576606e-04 -1.99380385e+01] [-4.73869906e-03 -6.49580826e-05 9.99988770e-01 -4.04536862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-19.94, Z:-4.05 [[ 9.85798211e-01 1.67853606e-01 5.20127709e-03 1.65257929e+02] [-1.67851671e-01 9.85811930e-01 -8.09588888e-04 -1.99413451e+01] [-5.26337342e-03 -7.49517707e-05 9.99986146e-01 -4.04604478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.29, Y:-19.94, Z:-4.05 [[ 9.85822660e-01 1.67711547e-01 5.14979470e-03 1.65286138e+02] [-1.67709655e-01 9.85836108e-01 -8.00007935e-04 -1.99435032e+01] [-5.21102413e-03 -7.50043436e-05 9.99986420e-01 -4.04768661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.31, Y:-19.95, Z:-4.05 [[ 9.86011079e-01 1.66596530e-01 5.26774546e-03 1.65313895e+02] [-1.66594538e-01 9.86025147e-01 -8.17895277e-04 -1.99473596e+01] [-5.33038801e-03 -7.11238147e-05 9.99985791e-01 -4.04816934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:-19.95, Z:-4.05 [[ 9.86291128e-01 1.64918173e-01 5.63977748e-03 1.65340119e+02] [-1.64915864e-01 9.86307250e-01 -8.75327102e-04 -1.99512429e+01] [-5.70691076e-03 -6.67614186e-05 9.99983713e-01 -4.04897073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:-19.95, Z:-4.05 [[ 9.87011858e-01 1.60513646e-01 6.55454881e-03 1.65367425e+02] [-1.60510436e-01 9.87033620e-01 -1.01639527e-03 -1.99529635e+01] [-6.63270534e-03 -4.88793042e-05 9.99978002e-01 -4.04915617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-19.96, Z:-4.05 [[ 9.87344953e-01 1.58437674e-01 6.88817785e-03 1.65394251e+02] [-1.58434083e-01 9.87368980e-01 -1.06742610e-03 -1.99562220e+01] [-6.97029364e-03 -3.74043629e-05 9.99975707e-01 -4.04980238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-19.96, Z:-4.05 [[ 9.87947443e-01 1.54617467e-01 7.29987484e-03 1.65421583e+02] [-1.54613336e-01 9.87974412e-01 -1.13029733e-03 -1.99623243e+01] [-7.38685326e-03 -1.19836477e-05 9.99972717e-01 -4.04984181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:-19.97, Z:-4.05 [[ 9.88175274e-01 1.53163931e-01 7.10192779e-03 1.65449570e+02] [-1.53159987e-01 9.88200794e-01 -1.09924232e-03 -1.99667109e+01] [-7.18649496e-03 -1.48708370e-06 9.99974177e-01 -4.04991346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.48, Y:-19.97, Z:-4.05 [[ 9.88350616e-01 1.52030281e-01 7.06075899e-03 1.65476108e+02] [-1.52026356e-01 9.88375836e-01 -1.09254371e-03 -1.99691436e+01] [-7.14478330e-03 6.39479035e-06 9.99974476e-01 -4.05005278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-19.97, Z:-4.05 [[ 9.88522809e-01 1.50911907e-01 6.94639275e-03 1.65504161e+02] [-1.50908086e-01 9.88547215e-01 -1.07406377e-03 -1.99710424e+01] [-7.02892621e-03 1.34697010e-05 9.99975297e-01 -4.05096706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:-19.97, Z:-4.05 [[ 9.88594226e-01 1.50459700e-01 6.58288181e-03 1.65531404e+02] [-1.50456260e-01 9.88616143e-01 -1.01747444e-03 -1.99748385e+01] [-6.66103213e-03 1.54335769e-05 9.99977815e-01 -4.05176312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.56, Y:-19.98, Z:-4.05 [[ 9.88649516e-01 1.50106425e-01 6.33996749e-03 1.65558882e+02] [-1.50103230e-01 9.88669844e-01 -9.79512572e-04 -1.99784109e+01] [-6.41516580e-03 1.67450296e-05 9.99979422e-01 -4.05220646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.59, Y:-19.98, Z:-4.05 [[ 9.88876625e-01 1.48526079e-01 7.93885268e-03 1.65585438e+02] [-1.48521025e-01 9.88908491e-01 -1.22568782e-03 -1.99810392e+01] [-8.03284543e-03 3.29674961e-05 9.99967736e-01 -4.05327447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:-19.99, Z:-4.05 [[ 9.89111251e-01 1.46945794e-01 8.11585897e-03 1.65613151e+02] [-1.46940467e-01 9.89144545e-01 -1.25205224e-03 -1.99854950e+01] [-8.21174144e-03 4.58708479e-05 9.99966282e-01 -4.05351137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.64, Y:-19.99, Z:-4.05 [[ 9.89360988e-01 1.45248516e-01 8.22826359e-03 1.65640324e+02] [-1.45242986e-01 9.89395202e-01 -1.26880212e-03 -1.99898268e+01] [-8.32529614e-03 6.02057453e-05 9.99965342e-01 -4.05445311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.67, Y:-19.99, Z:-4.05 [[ 9.89903760e-01 1.41450676e-01 9.06926832e-03 1.65667397e+02] [-1.41443809e-01 9.89945300e-01 -1.39745910e-03 -1.99939117e+01] [-9.17575108e-03 1.00558164e-04 9.99957897e-01 -4.05486823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:-20.00, Z:-4.06 [[ 9.90140945e-01 1.39751067e-01 9.51567967e-03 1.65696045e+02] [-1.39743437e-01 9.90186661e-01 -1.46540712e-03 -1.99995971e+01] [-9.62709130e-03 1.21205815e-04 9.99953651e-01 -4.05588979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.72, Y:-20.01, Z:-4.06 [[ 9.90317064e-01 1.38534886e-01 8.95529156e-03 1.65722861e+02] [-1.38528080e-01 9.90357546e-01 -1.37890774e-03 -2.00061326e+01] [-9.05996740e-03 1.24996522e-04 9.99958950e-01 -4.05665357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:-20.02, Z:-4.06 [[ 9.90511227e-01 1.37243895e-01 7.18483701e-03 1.65750700e+02] [-1.37239482e-01 9.90537279e-01 -1.10598079e-03 -2.00152210e+01] [-7.26863802e-03 1.09443079e-04 9.99973577e-01 -4.05750496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.78, Y:-20.02, Z:-4.06 [[ 9.90515055e-01 1.37223922e-01 7.03705638e-03 1.65777491e+02] [-1.37219690e-01 9.90540046e-01 -1.08312910e-03 -2.00208479e+01] [-7.11911738e-03 1.07232983e-04 9.99974653e-01 -4.05853578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.81, Y:-20.03, Z:-4.06 [[ 9.90519870e-01 1.37189156e-01 7.03718994e-03 1.65806485e+02] [-1.37184928e-01 9.90544862e-01 -1.08226025e-03 -2.00252207e+01] [-7.11912671e-03 1.06603888e-04 9.99974653e-01 -4.05922202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.83, Y:-20.03, Z:-4.06 [[ 9.90495851e-01 1.37386104e-01 6.55959066e-03 1.65834795e+02] [-1.37382435e-01 9.90517566e-01 -1.00882818e-03 -2.00301464e+01] [-6.63598875e-03 9.80675910e-05 9.99977977e-01 -4.05988990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.86, Y:-20.04, Z:-4.06 [[ 9.90302927e-01 1.38790499e-01 6.10817575e-03 1.65862752e+02] [-1.38787346e-01 9.90321761e-01 -9.39186902e-04 -2.00374468e+01] [-6.17940958e-03 8.23420382e-05 9.99980904e-01 -4.06022136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:-20.04, Z:-4.06 [[ 9.90132728e-01 1.40000834e-01 6.07839525e-03 1.65890269e+02] [-1.39997734e-01 9.90151383e-01 -9.34653333e-04 -2.00437567e+01] [-6.14938371e-03 7.44692949e-05 9.99981090e-01 -4.06086251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.92, Y:-20.05, Z:-4.06 [[ 9.89634598e-01 1.43444032e-01 6.86826359e-03 1.65918491e+02] [-1.43440164e-01 9.89658429e-01 -1.05512227e-03 -2.00522081e+01] [-6.94858595e-03 5.90006504e-05 9.99975857e-01 -4.06107474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.95, Y:-20.06, Z:-4.06 [[ 9.89345447e-01 1.45399301e-01 7.39126971e-03 1.65946218e+02] [-1.45394878e-01 9.89373055e-01 -1.13503514e-03 -2.00587709e+01] [-7.47775640e-03 4.82890879e-05 9.99972040e-01 -4.06176158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.97, Y:-20.07, Z:-4.06 [[ 9.89059468e-01 1.47325172e-01 7.52743702e-03 1.65973246e+02] [-1.47320642e-01 9.89088112e-01 -1.15574926e-03 -2.00657119e+01] [-7.61556943e-03 3.41578922e-05 9.99971001e-01 -4.06248157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.00, Y:-20.07, Z:-4.06 [[ 9.88781291e-01 1.49186522e-01 7.41221019e-03 1.66001556e+02] [-1.49182187e-01 9.88809072e-01 -1.13746817e-03 -2.00724784e+01] [-7.49895560e-03 1.89375168e-05 9.99971882e-01 -4.06260381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:-20.08, Z:-4.06 [[ 9.88024508e-01 1.54138626e-01 6.98971396e-03 1.66029258e+02] [-1.54134896e-01 9.88049231e-01 -1.07240430e-03 -2.00795248e+01] [-7.07148043e-03 -1.77971065e-05 9.99974997e-01 -4.06317584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.06, Y:-20.09, Z:-4.06 [[ 9.87106187e-01 1.59961034e-01 5.81743375e-03 1.66056253e+02] [-1.59958551e-01 9.87123328e-01 -8.92662435e-04 -2.00855408e+01] [-5.88531577e-03 -4.93956626e-05 9.99982680e-01 -4.06456396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:-20.09, Z:-4.06 [[ 9.86634222e-01 1.62856152e-01 5.54855848e-03 1.66083869e+02] [-1.62853939e-01 9.86649821e-01 -8.51270533e-04 -2.00904489e+01] [-5.61311888e-03 -6.37119671e-05 9.99984244e-01 -4.06494989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.11, Y:-20.10, Z:-4.07 [[ 9.86206038e-01 1.65412478e-01 6.03018306e-03 1.66111495e+02] [-1.65409917e-01 9.86224470e-01 -9.24593092e-04 -2.00950745e+01] [-6.10005332e-03 -8.56127867e-05 9.99981391e-01 -4.06532115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.14, Y:-20.10, Z:-4.07 [[ 9.85460849e-01 1.69711122e-01 8.06536697e-03 1.66137526e+02] [-1.69706690e-01 9.85493842e-01 -1.23566059e-03 -2.01011164e+01] [-8.15807482e-03 -1.51051599e-04 9.99966711e-01 -4.06574929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:-20.11, Z:-4.07 [[ 9.85258542e-01 1.70874578e-01 8.21481251e-03 1.66165524e+02] [-1.70870029e-01 9.85292774e-01 -1.25769876e-03 -2.01060715e+01] [-8.30890415e-03 -1.64506806e-04 9.99965467e-01 -4.06637054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.19, Y:-20.11, Z:-4.07 [[ 9.85179948e-01 1.71327900e-01 8.19884423e-03 1.66192015e+02] [-1.71323388e-01 9.85214049e-01 -1.25481445e-03 -2.01106332e+01] [-8.29260125e-03 -1.68435736e-04 9.99965602e-01 -4.06706877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:-20.12, Z:-4.07 [[ 9.85264179e-01 1.70857991e-01 7.87681215e-03 1.66219349e+02] [-1.70853818e-01 9.85295652e-01 -1.20467948e-03 -2.01160131e+01] [-7.96681788e-03 -1.58855885e-04 9.99968252e-01 -4.06787798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-20.12, Z:-4.07 [[ 9.85472955e-01 1.69644173e-01 7.99436815e-03 1.66247057e+02] [-1.69639839e-01 9.85505369e-01 -1.22206129e-03 -2.01207176e+01] [-8.08580831e-03 -1.51854973e-04 9.99967298e-01 -4.06841898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:-20.13, Z:-4.07 [[ 9.86251227e-01 1.65004603e-01 9.05524889e-03 1.66273749e+02] [-1.64998857e-01 9.86292788e-01 -1.38317707e-03 -2.01277852e+01] [-9.15935726e-03 -1.29945633e-04 9.99958044e-01 -4.06934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.30, Y:-20.13, Z:-4.07 [[ 9.86748617e-01 1.61979848e-01 9.47073042e-03 1.66302064e+02] [-1.61973431e-01 9.86794060e-01 -1.44585936e-03 -2.01346233e+01] [-9.57986061e-03 -1.07306967e-04 9.99954106e-01 -4.06969694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.33, Y:-20.14, Z:-4.07 [[ 9.87278858e-01 1.58720889e-01 9.38810655e-03 1.66329111e+02] [-1.58714439e-01 9.87323490e-01 -1.43295666e-03 -2.01409506e+01] [-9.49653828e-03 -7.53002459e-05 9.99954904e-01 -4.07018160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:-20.15, Z:-4.07 [[ 9.88274591e-01 1.52391337e-01 9.49803930e-03 1.66355578e+02] [-1.52384447e-01 9.88320232e-01 -1.44912456e-03 -2.01488335e+01] [-9.60793843e-03 -1.52204852e-05 9.99953843e-01 -4.07019579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:-20.15, Z:-4.07 [[ 9.88702276e-01 1.49589838e-01 9.52310107e-03 1.66382417e+02] [-1.49582787e-01 9.88748138e-01 -1.45235542e-03 -2.01545736e+01] [-9.63320606e-03 1.14551082e-05 9.99953600e-01 -4.07013574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:-20.16, Z:-4.07 [[ 9.89013791e-01 1.47531474e-01 9.28357521e-03 1.66410772e+02] [-1.47524689e-01 9.89057361e-01 -1.41517516e-03 -2.01609170e+01] [-9.39077128e-03 3.00712091e-05 9.99955905e-01 -4.07062639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:-20.17, Z:-4.07 [[ 9.89324038e-01 1.45547553e-01 7.33883194e-03 1.66439654e+02] [-1.45543263e-01 9.89351256e-01 -1.11820374e-03 -2.01701004e+01] [-7.42343442e-03 3.81482971e-05 9.99972445e-01 -4.07164221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.47, Y:-20.18, Z:-4.07 [[ 9.89238186e-01 1.46146851e-01 6.99351288e-03 1.66466949e+02] [-1.46142966e-01 9.89262906e-01 -1.06603855e-03 -2.01761101e+01] [-7.07422105e-03 3.25133305e-05 9.99974977e-01 -4.07277240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.49, Y:-20.18, Z:-4.07 [[ 9.88857882e-01 1.48694978e-01 7.06342925e-03 1.66493657e+02] [-1.48691084e-01 9.88883109e-01 -1.07620504e-03 -2.01825405e+01] [-7.14493216e-03 1.39448801e-05 9.99974475e-01 -4.07314829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.52, Y:-20.19, Z:-4.07 [[ 9.88654832e-01 1.50026272e-01 7.33086841e-03 1.66522024e+02] [-1.50022118e-01 9.88682010e-01 -1.11630555e-03 -2.01882671e+01] [-7.41537288e-03 3.84846785e-06 9.99972506e-01 -4.07352346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.55, Y:-20.19, Z:-4.07 [[ 9.88487662e-01 1.51118980e-01 7.42939157e-03 1.66549535e+02] [-1.51114747e-01 9.88515581e-01 -1.13111445e-03 -2.01934038e+01] [-7.51500219e-03 -4.59794808e-06 9.99971762e-01 -4.07378789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.58, Y:-20.20, Z:-4.07 [[ 9.88252581e-01 1.52622956e-01 7.94160990e-03 1.66578276e+02] [-1.52618173e-01 9.88284490e-01 -1.20833434e-03 -2.01981461e+01] [-8.03298945e-03 -1.78944624e-05 9.99967735e-01 -4.07411773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:-20.20, Z:-4.07 [[ 9.88236431e-01 1.52728331e-01 7.92546644e-03 1.66605520e+02] [-1.52723573e-01 9.88268211e-01 -1.20566902e-03 -2.02037623e+01] [-8.01662636e-03 -1.89194971e-05 9.99967866e-01 -4.07495353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.63, Y:-20.21, Z:-4.08 [[ 9.88288759e-01 1.52402627e-01 7.66599890e-03 1.66633747e+02] [-1.52398171e-01 9.88318491e-01 -1.16554764e-03 -2.02102008e+01] [-7.75408099e-03 -1.63865802e-05 9.99969937e-01 -4.07554947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:-20.22, Z:-4.08 [[ 9.88418052e-01 1.51599836e-01 6.87349375e-03 1.66661981e+02] [-1.51596235e-01 9.88441951e-01 -1.04485906e-03 -2.02175284e+01] [-6.95245003e-03 -9.23821465e-06 9.99975831e-01 -4.07612812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:-20.22, Z:-4.08 [[ 9.88463868e-01 1.51314319e-01 6.56946427e-03 1.66690130e+02] [-1.51311027e-01 9.88485699e-01 -9.98160004e-04 -2.02233282e+01] [-6.64485738e-03 -7.38728913e-06 9.99977923e-01 -4.07675349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.72, Y:-20.23, Z:-4.08 [[ 9.88494998e-01 1.51098095e-01 6.85595219e-03 1.66719130e+02] [-1.51094508e-01 9.88518774e-01 -1.04120698e-03 -2.02310060e+01] [-6.93456184e-03 -6.66882621e-06 9.99975956e-01 -4.07731067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.75, Y:-20.24, Z:-4.08 [[ 9.88490278e-01 1.51108655e-01 7.29001680e-03 1.66747017e+02] [-1.51104600e-01 9.88517159e-01 -1.10710417e-03 -2.02358998e+01] [-7.37359973e-03 -7.19336228e-06 9.99972815e-01 -4.07771288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:-20.24, Z:-4.08 [[ 9.88449652e-01 1.51377952e-01 7.21122171e-03 1.66776582e+02] [-1.51373995e-01 9.88475956e-01 -1.09467905e-03 -2.02408030e+01] [-7.29382955e-03 -9.55631482e-06 9.99973400e-01 -4.07791396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.81, Y:-20.25, Z:-4.08 [[ 9.88353664e-01 1.52009247e-01 7.08690946e-03 1.66805197e+02] [-1.52005440e-01 9.88379071e-01 -1.07583927e-03 -2.02460337e+01] [-7.16809051e-03 -1.39391052e-05 9.99974309e-01 -4.07870700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:-20.25, Z:-4.08 [[ 9.88013766e-01 1.54216437e-01 6.78882015e-03 1.66833385e+02] [-1.54212999e-01 9.88037089e-01 -1.03017963e-03 -2.02530647e+01] [-6.86647673e-03 -2.90926568e-05 9.99976425e-01 -4.07899335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:-20.26, Z:-4.08 [[ 9.87763249e-01 1.55821032e-01 6.60066882e-03 1.66863004e+02] [-1.55817819e-01 9.87785303e-01 -1.00145964e-03 -2.02574565e+01] [-6.67609213e-03 -3.92967908e-05 9.99977714e-01 -4.07961188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.89, Y:-20.26, Z:-4.08 [[ 9.87505861e-01 1.57456083e-01 6.30525182e-03 1.66891141e+02] [-1.57453184e-01 9.87525989e-01 -9.56710841e-04 -2.02605543e+01] [-6.37723998e-03 -4.80244112e-05 9.99979664e-01 -4.08046116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:-20.27, Z:-4.08 [[ 9.87179716e-01 1.59516115e-01 5.55131016e-03 1.66919518e+02] [-1.59513900e-01 9.87195323e-01 -8.42416612e-04 -2.02651566e+01] [-5.61460645e-03 -5.38945394e-05 9.99984237e-01 -4.08205058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.95, Y:-20.27, Z:-4.08 [[ 9.87135010e-01 1.59814589e-01 4.87543457e-03 1.66947523e+02] [-1.59812884e-01 9.87147048e-01 -7.39793224e-04 -2.02699781e+01] [-4.93100059e-03 -4.88814675e-05 9.99987841e-01 -4.08288409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.98, Y:-20.27, Z:-4.08 [[ 9.87170487e-01 1.59618548e-01 4.04346484e-03 1.66975107e+02] [-1.59617373e-01 9.87178767e-01 -6.13873446e-04 -2.02731659e+01] [-4.08960822e-03 -3.94094859e-05 9.99991637e-01 -4.08372459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.00, Y:-20.28, Z:-4.08 [[ 9.87249293e-01 1.59130019e-01 4.05832066e-03 1.67003465e+02] [-1.59128833e-01 9.87257634e-01 -6.15533886e-04 -2.02770517e+01] [-4.10455797e-03 -3.81104368e-05 9.99991576e-01 -4.08478362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.03, Y:-20.28, Z:-4.09 [[ 9.87377616e-01 1.58311766e-01 4.77779691e-03 1.67030572e+02] [-1.58310114e-01 9.87389175e-01 -7.24435512e-04 -2.02814691e+01] [-4.83223162e-03 -4.10821657e-05 9.99988324e-01 -4.08579311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:-20.29, Z:-4.09 [[ 9.87726417e-01 1.56101739e-01 5.36391241e-03 1.67058845e+02] [-1.56099629e-01 9.87740981e-01 -8.12547035e-04 -2.02868095e+01] [-5.42499611e-03 -3.47305626e-05 9.99985284e-01 -4.08541971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.09, Y:-20.29, Z:-4.09 [[ 9.87907068e-01 1.54960933e-01 5.17047605e-03 1.67088019e+02] [-1.54958959e-01 9.87920598e-01 -7.82588863e-04 -2.02915349e+01] [-5.22929049e-03 -2.80865187e-05 9.99986327e-01 -4.08628831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.12, Y:-20.30, Z:-4.09 [[ 9.88071313e-01 1.53924337e-01 4.73059031e-03 1.67116499e+02] [-1.53922672e-01 9.88082637e-01 -7.16165163e-04 -2.02966913e+01] [-4.78444940e-03 -2.05228477e-05 9.99988554e-01 -4.08753550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:-20.30, Z:-4.09 [[ 9.88361347e-01 1.52035522e-01 5.20070334e-03 1.67145757e+02] [-1.52033486e-01 9.88375030e-01 -7.86825214e-04 -2.03034767e+01] [-5.25987071e-03 -1.30134316e-05 9.99986167e-01 -4.08832470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.18, Y:-20.31, Z:-4.09 [[ 9.88422053e-01 1.51618763e-01 5.79621820e-03 1.67175233e+02] [-1.51616229e-01 9.88439047e-01 -8.76731737e-04 -2.03075000e+01] [-5.86213738e-03 -1.22197611e-05 9.99982817e-01 -4.08821060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.21, Y:-20.31, Z:-4.09 [[ 9.88476626e-01 1.51281476e-01 5.27974921e-03 1.67205152e+02] [-1.51279369e-01 9.88490726e-01 -7.98530750e-04 -2.03100240e+01] [-5.33978604e-03 -9.38814746e-06 9.99985743e-01 -4.08885173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.23, Y:-20.31, Z:-4.09 [[ 9.88460222e-01 1.51392308e-01 5.17293763e-03 1.67233339e+02] [-1.51390286e-01 9.88473757e-01 -7.82479213e-04 -2.03149597e+01] [-5.23177443e-03 -9.68293141e-06 9.99986314e-01 -4.08987926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.26, Y:-20.32, Z:-4.09 [[ 9.88394479e-01 1.51825669e-01 5.03189736e-03 1.67262896e+02] [-1.51823764e-01 9.88407287e-01 -7.60754087e-04 -2.03207495e+01] [-5.08906601e-03 -1.20364572e-05 9.99987051e-01 -4.09012613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.29, Y:-20.33, Z:-4.09 [[ 9.88269177e-01 1.52615174e-01 5.71334800e-03 1.67290667e+02] [-1.52612731e-01 9.88285692e-01 -8.63773778e-04 -2.03265841e+01] [-5.77824507e-03 -1.82886386e-05 9.99983306e-01 -4.08983511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.32, Y:-20.33, Z:-4.09 [[ 9.88236684e-01 1.52826787e-01 5.67717554e-03 1.67320279e+02] [-1.52824380e-01 9.88252990e-01 -8.57875605e-04 -2.03314698e+01] [-5.74159207e-03 -1.98266888e-05 9.99983517e-01 -4.09043718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.35, Y:-20.34, Z:-4.09 [[ 9.88384832e-01 1.51882179e-01 5.21794731e-03 1.67349353e+02] [-1.51880134e-01 9.88398606e-01 -7.88400725e-04 -2.03387529e+01] [-5.27715586e-03 -1.32592168e-05 9.99986076e-01 -4.09189689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:-20.34, Z:-4.09 [[ 9.88502072e-01 1.51126510e-01 4.94276626e-03 1.67378679e+02] [-1.51124666e-01 9.88514430e-01 -7.46739112e-04 -2.03446098e+01] [-4.99884785e-03 -8.82073822e-06 9.99987506e-01 -4.09247953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.41, Y:-20.35, Z:-4.09 [[ 9.88605817e-01 1.50428534e-01 5.45839142e-03 1.67407485e+02] [-1.50426274e-01 9.88620886e-01 -8.24458064e-04 -2.03496629e+01] [-5.52030178e-03 -6.02144815e-06 9.99984763e-01 -4.09290770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.44, Y:-20.36, Z:-4.09 [[ 9.88815032e-01 1.48989613e-01 6.85040858e-03 1.67435915e+02] [-1.48986027e-01 9.88838761e-01 -1.03378808e-03 -2.03569364e+01] [-6.92797322e-03 1.61003566e-06 9.99976001e-01 -4.09373489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.47, Y:-20.36, Z:-4.09 [[ 9.88926788e-01 1.48264550e-01 6.43665956e-03 1.67465887e+02] [-1.48261367e-01 9.88947735e-01 -9.71618683e-04 -2.03640615e+01] [-6.50957650e-03 6.55180124e-06 9.99978812e-01 -4.09424407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:-20.37, Z:-4.09 [[ 9.88953910e-01 1.48080490e-01 6.50629298e-03 1.67495379e+02] [-1.48077233e-01 9.88975312e-01 -9.82129901e-04 -2.03718327e+01] [-6.57999741e-03 7.84734664e-06 9.99978352e-01 -4.09417917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.53, Y:-20.38, Z:-4.09 [[ 9.88843748e-01 1.48771509e-01 7.42155468e-03 1.67525048e+02] [-1.48767297e-01 9.88871598e-01 -1.11937817e-03 -2.03815645e+01] [-7.50549622e-03 2.80546864e-06 9.99971833e-01 -4.09402755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.55, Y:-20.39, Z:-4.09 [[ 9.88688269e-01 1.49789732e-01 7.65130684e-03 1.67554405e+02] [-1.49785277e-01 9.88717875e-01 -1.15522854e-03 -2.03883973e+01] [-7.73802521e-03 -3.89221061e-06 9.99970061e-01 -4.09440033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.58, Y:-20.40, Z:-4.09 [[ 9.88276529e-01 1.52421058e-01 8.79341244e-03 1.67584637e+02] [-1.52415278e-01 9.88315648e-01 -1.32763612e-03 -2.03963214e+01] [-8.89302681e-03 -2.81787909e-05 9.99960456e-01 -4.09425734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:-20.40, Z:-4.10 [[ 9.88271053e-01 1.52456560e-01 8.79340643e-03 1.67616098e+02] [-1.52450781e-01 9.88310172e-01 -1.32767599e-03 -2.04011249e+01] [-8.89302593e-03 -2.84579329e-05 9.99960456e-01 -4.09500215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.65, Y:-20.41, Z:-4.10 [[ 9.88052935e-01 1.53840103e-01 9.19898198e-03 1.67646718e+02] [-1.53833851e-01 9.88095755e-01 -1.38759300e-03 -2.04066506e+01] [-9.30294249e-03 -4.40994835e-05 9.99956726e-01 -4.09566083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.68, Y:-20.41, Z:-4.10 [[ 9.87862693e-01 1.55061039e-01 9.13093425e-03 1.67678626e+02] [-1.55054920e-01 9.87904890e-01 -1.37854571e-03 -2.04120540e+01] [-9.23425333e-03 -5.39824015e-05 9.99957362e-01 -4.09652347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:-20.42, Z:-4.10 [[ 9.87536840e-01 1.57162115e-01 8.42971257e-03 1.67708979e+02] [-1.57156957e-01 9.87572815e-01 -1.27495724e-03 -2.04195625e+01] [-8.52532995e-03 -6.57207280e-05 9.99963657e-01 -4.09788191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:-20.43, Z:-4.10 [[ 9.87360187e-01 1.58274559e-01 8.30818189e-03 1.67739273e+02] [-1.58269589e-01 9.87395138e-01 -1.25642177e-03 -2.04272614e+01] [-8.40231801e-03 -7.43916997e-05 9.99964697e-01 -4.09935272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.77, Y:-20.44, Z:-4.10 [[ 9.87119201e-01 1.59796811e-01 7.78858418e-03 1.67769010e+02] [-1.59792475e-01 9.87149924e-01 -1.17984270e-03 -2.04379754e+01] [-7.87703539e-03 -7.99117651e-05 9.99968972e-01 -4.10029051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.80, Y:-20.44, Z:-4.10 [[ 9.86986494e-01 1.60621690e-01 7.63755991e-03 1.67800167e+02] [-1.60617550e-01 9.87016041e-01 -1.15647295e-03 -2.04444752e+01] [-7.72414879e-03 -8.53029809e-05 9.99970165e-01 -4.10068326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:-20.45, Z:-4.10 [[ 9.86781223e-01 1.61885356e-01 7.47987150e-03 1.67832219e+02] [-1.61881412e-01 9.86809568e-01 -1.13374933e-03 -2.04505682e+01] [-7.56474618e-03 -9.20896098e-05 9.99971383e-01 -4.10080884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:-20.46, Z:-4.10 [[ 9.86568326e-01 1.63160727e-01 7.84318287e-03 1.67862655e+02] [-1.63156417e-01 9.86599496e-01 -1.19055980e-03 -2.04556340e+01] [-7.93233287e-03 -1.05097020e-04 9.99968533e-01 -4.10152657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.89, Y:-20.46, Z:-4.10 [[ 9.86091552e-01 1.66016318e-01 7.87609508e-03 1.67894368e+02] [-1.66012037e-01 9.86122998e-01 -1.19884668e-03 -2.04584737e+01] [-7.96582660e-03 -1.25353996e-04 9.99968264e-01 -4.10200766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:-20.46, Z:-4.10 [[ 9.85817634e-01 1.67613255e-01 8.33005330e-03 1.67925559e+02] [-1.67608521e-01 9.85852816e-01 -1.26817823e-03 -2.04622418e+01] [-8.42476999e-03 -1.45995454e-04 9.99964500e-01 -4.10322487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.96, Y:-20.47, Z:-4.10 [[ 9.85286299e-01 1.70645561e-01 9.53947976e-03 1.67955795e+02] [-1.70639490e-01 9.85332459e-01 -1.45278028e-03 -2.04673367e+01] [-9.64746955e-03 -1.96407461e-04 9.99953443e-01 -4.10370942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.99, Y:-20.47, Z:-4.10 [[ 9.85053300e-01 1.71981092e-01 9.61768035e-03 1.67986847e+02] [-1.71975002e-01 9.85100228e-01 -1.46290284e-03 -2.04717673e+01] [-9.72597073e-03 -2.12963329e-04 9.99952679e-01 -4.10446649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:-20.48, Z:-4.11 [[ 9.84913638e-01 1.72793609e-01 9.35388868e-03 1.68018262e+02] [-1.72787855e-01 9.84958032e-01 -1.42589692e-03 -2.04751282e+01] [-9.45957365e-03 -2.11853042e-04 9.99955235e-01 -4.10541735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.05, Y:-20.48, Z:-4.11 [[ 9.85047500e-01 1.72042921e-01 9.09156793e-03 1.68048450e+02] [-1.72037447e-01 9.85089435e-01 -1.38659747e-03 -2.04754518e+01] [-9.19456179e-03 -1.98225769e-04 9.99957709e-01 -4.10711619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.08, Y:-20.48, Z:-4.11 [[ 9.85279967e-01 1.70741802e-01 8.40384065e-03 1.68079443e+02] [-1.70737083e-01 9.85315791e-01 -1.28109670e-03 -2.04783096e+01] [-8.49917366e-03 -1.72608323e-04 9.99963866e-01 -4.10773087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.11, Y:-20.48, Z:-4.11 [[ 9.85975797e-01 1.66704089e-01 7.84049711e-03 1.68111805e+02] [-1.66699871e-01 9.86006962e-01 -1.19311251e-03 -2.04797420e+01] [-7.92968148e-03 -1.30629800e-04 9.99968551e-01 -4.10907731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:-20.48, Z:-4.11 [[ 9.86411938e-01 1.64090562e-01 8.11026472e-03 1.68142042e+02] [-1.64085928e-01 9.86445272e-01 -1.23811073e-03 -2.04833877e+01] [-8.20349458e-03 -1.09493105e-04 9.99966345e-01 -4.11002365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.17, Y:-20.49, Z:-4.11 [[ 9.86822499e-01 1.61588586e-01 8.39546341e-03 1.68173481e+02] [-1.61583530e-01 9.86858207e-01 -1.28158909e-03 -2.04881668e+01] [-8.49222214e-03 -9.18676609e-05 9.99963936e-01 -4.11040475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.20, Y:-20.49, Z:-4.11 [[ 9.87379900e-01 1.58158333e-01 8.17766381e-03 1.68203955e+02] [-1.58153433e-01 9.87413762e-01 -1.24654584e-03 -2.04925967e+01] [-8.27188940e-03 -6.25112955e-05 9.99965785e-01 -4.11118483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:-20.50, Z:-4.11 [[ 9.87533345e-01 1.57203813e-01 8.05322383e-03 1.68234862e+02] [-1.57199003e-01 9.87566179e-01 -1.23077568e-03 -2.04960915e+01] [-8.14657412e-03 -5.05267402e-05 9.99966815e-01 -4.11188792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:-20.50, Z:-4.11 [[ 9.87601265e-01 1.56766879e-01 8.23939749e-03 1.68264729e+02] [-1.56761831e-01 9.87635633e-01 -1.25896578e-03 -2.04987100e+01] [-8.33488669e-03 -4.82668450e-05 9.99965263e-01 -4.11232993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:-20.50, Z:-4.11 [[ 9.87438332e-01 1.57776734e-01 8.48781348e-03 1.68296291e+02] [-1.57771406e-01 9.87474809e-01 -1.29789212e-03 -2.04995456e+01] [-8.58627917e-03 -5.75458349e-05 9.99963136e-01 -4.11276558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:-20.50, Z:-4.11 [[ 9.87276382e-01 1.58792306e-01 8.38741302e-03 1.68326554e+02] [-1.58787136e-01 9.87312007e-01 -1.28292700e-03 -2.05022548e+01] [-8.48471252e-03 -6.52097699e-05 9.99964002e-01 -4.11392564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:-20.51, Z:-4.11 [[ 9.87122520e-01 1.59766778e-01 7.98169232e-03 1.68356495e+02] [-1.59762127e-01 9.87154786e-01 -1.22114123e-03 -2.05050492e+01] [-8.07426358e-03 -6.97561314e-05 9.99967400e-01 -4.11445198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:-20.51, Z:-4.12 [[ 9.86754991e-01 1.62077195e-01 6.75057510e-03 1.68387085e+02] [-1.62073922e-01 9.86778079e-01 -1.03278919e-03 -2.05071850e+01] [-6.82871110e-03 -7.49822919e-05 9.99976681e-01 -4.11547702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:-20.51, Z:-4.12 [[ 9.86590063e-01 1.63099670e-01 6.20850971e-03 1.68416462e+02] [-1.63096920e-01 9.86609595e-01 -9.50068130e-04 -2.05099967e+01] [-6.28033105e-03 -7.52610372e-05 9.99980276e-01 -4.11610444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.45, Y:-20.51, Z:-4.12 [[ 9.86357114e-01 1.64494978e-01 6.40672096e-03 1.68446606e+02] [-1.64492078e-01 9.86377917e-01 -9.80506206e-04 -2.05087469e+01] [-6.48073642e-03 -8.67255758e-05 9.99978996e-01 -4.11715132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.47, Y:-20.51, Z:-4.12 [[ 9.86308332e-01 1.64781063e-01 6.56320621e-03 1.68474886e+02] [-1.64778028e-01 9.86330164e-01 -1.00428331e-03 -2.05102849e+01] [-6.63897513e-03 -9.09391782e-05 9.99977958e-01 -4.11793074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.50, Y:-20.51, Z:-4.12 [[ 9.86342044e-01 1.64550199e-01 7.25284973e-03 1.68503826e+02] [-1.64546485e-01 9.86368705e-01 -1.10995852e-03 -2.05103501e+01] [-7.33662789e-03 -9.86321756e-05 9.99973082e-01 -4.11831287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:-20.51, Z:-4.12 [[ 9.86397374e-01 1.64213985e-01 7.34767904e-03 1.68533826e+02] [-1.64210169e-01 9.86424735e-01 -1.12373049e-03 -2.05128960e+01] [-7.43246462e-03 -9.81188113e-05 9.99972374e-01 -4.11887082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:-20.52, Z:-4.12 [[ 9.86487405e-01 1.63687478e-01 7.00064193e-03 1.68563370e+02] [-1.63684002e-01 9.86512241e-01 -1.07051169e-03 -2.05159606e+01] [-7.08144832e-03 -8.98467853e-05 9.99974922e-01 -4.12002547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.59, Y:-20.52, Z:-4.12 [[ 9.86644088e-01 1.62768485e-01 6.31375006e-03 1.68591918e+02] [-1.62765639e-01 9.86664287e-01 -9.65582375e-04 -2.05193169e+01] [-6.38671808e-03 -7.49754178e-05 9.99979602e-01 -4.12133308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.62, Y:-20.52, Z:-4.12 [[ 9.86947401e-01 1.60923900e-01 6.19082000e-03 1.68620773e+02] [-1.60921127e-01 9.86966815e-01 -9.46748545e-04 -2.05212872e+01] [-6.26248837e-03 -6.18427126e-05 9.99980389e-01 -4.12197789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.65, Y:-20.52, Z:-4.12 [[ 9.87080310e-01 1.60098051e-01 6.40909818e-03 1.68649236e+02] [-1.60095064e-01 9.87101115e-01 -9.79792254e-04 -2.05231764e+01] [-6.48329079e-03 -5.89313399e-05 9.99978982e-01 -4.12215145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.68, Y:-20.52, Z:-4.12 [[ 9.87350287e-01 1.58405270e-01 6.86880005e-03 1.68677785e+02] [-1.58401801e-01 9.87374178e-01 -1.04967351e-03 -2.05245929e+01] [-6.94834962e-03 -5.16348572e-05 9.99975859e-01 -4.12279667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:-20.53, Z:-4.12 [[ 9.87477594e-01 1.57602044e-01 7.04250215e-03 1.68706830e+02] [-1.57598379e-01 9.87502706e-01 -1.07585372e-03 -2.05285718e+01] [-7.12404668e-03 -4.75054847e-05 9.99974623e-01 -4.12293564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:-20.53, Z:-4.12 [[ 9.87563428e-01 1.57068713e-01 6.92060545e-03 1.68734658e+02] [-1.57065162e-01 9.87587676e-01 -1.05710219e-03 -2.05319877e+01] [-7.00074234e-03 -4.30305517e-05 9.99975494e-01 -4.12356500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:-20.53, Z:-4.13 [[ 9.87699530e-01 1.56194227e-01 7.28026393e-03 1.68763124e+02] [-1.56190278e-01 9.87726360e-01 -1.11128532e-03 -2.05346600e+01] [-7.36448494e-03 -3.94904600e-05 9.99972881e-01 -4.12510546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.79, Y:-20.54, Z:-4.13 [[ 9.87732566e-01 1.55954374e-01 7.91271799e-03 1.68790965e+02] [-1.55949704e-01 9.87764259e-01 -1.20752286e-03 -2.05389362e+01] [-8.00421850e-03 -4.12763777e-05 9.99967965e-01 -4.12602301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.82, Y:-20.54, Z:-4.13 [[ 9.87718815e-01 1.56038004e-01 7.98024941e-03 1.68819689e+02] [-1.56033263e-01 9.87751051e-01 -1.21714925e-03 -2.05437454e+01] [-8.07242129e-03 -4.29831404e-05 9.99967417e-01 -4.12620464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:-20.55, Z:-4.13 [[ 9.87749181e-01 1.55835992e-01 8.16691824e-03 1.68847704e+02] [-1.55831021e-01 9.87782943e-01 -1.24544653e-03 -2.05473268e+01] [-8.26122793e-03 -4.24704185e-05 9.99965875e-01 -4.12714512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.88, Y:-20.55, Z:-4.13 [[ 9.87802224e-01 1.55489959e-01 8.34495598e-03 1.68875984e+02] [-1.55484763e-01 9.87837472e-01 -1.27177229e-03 -2.05508320e+01] [-8.44120804e-03 -4.12540055e-05 9.99964372e-01 -4.12774288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:-20.55, Z:-4.13 [[ 9.87898567e-01 1.54870606e-01 8.45675032e-03 1.68903497e+02] [-1.54865250e-01 9.87934762e-01 -1.28856184e-03 -2.05546244e+01] [-8.55427797e-03 -3.66883571e-05 9.99963411e-01 -4.12859470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.93, Y:-20.56, Z:-4.13 [[ 9.88182200e-01 1.53056352e-01 8.34827321e-03 1.68931660e+02] [-1.53051076e-01 9.88217462e-01 -1.27102067e-03 -2.05601250e+01] [-8.44444715e-03 -2.17121951e-05 9.99964345e-01 -4.12865827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.96, Y:-20.57, Z:-4.13 [[ 9.88321860e-01 1.52125850e-01 8.81060947e-03 1.68961177e+02] [-1.52119939e-01 9.88361131e-01 -1.34116685e-03 -2.05655265e+01] [-8.91209009e-03 -1.47648574e-05 9.99960286e-01 -4.12917531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:-20.57, Z:-4.13 [[ 9.88479922e-01 1.51017995e-01 1.00502935e-02 1.68988879e+02] [-1.51010248e-01 9.88531014e-01 -1.52971283e-03 -2.05722557e+01] [-1.01660410e-02 -5.60688589e-06 9.99948324e-01 -4.12920600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.02, Y:-20.58, Z:-4.13 [[ 9.88477753e-01 1.51027147e-01 1.01258012e-02 1.69018445e+02] [-1.51019288e-01 9.88529616e-01 -1.54069254e-03 -2.05782868e+01] [-1.02423407e-02 -6.25098723e-06 9.99947546e-01 -4.13023093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.05, Y:-20.58, Z:-4.13 [[ 9.88427224e-01 1.51378918e-01 9.80035861e-03 1.69047899e+02] [-1.51371576e-01 9.88475808e-01 -1.49096307e-03 -2.05844122e+01] [-9.91311777e-03 -9.78723394e-06 9.99950864e-01 -4.13061720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:-20.59, Z:-4.13 [[ 9.88146058e-01 1.53188448e-01 1.00333010e-02 1.69077296e+02] [-1.53180848e-01 9.88196994e-01 -1.52616825e-03 -2.05916572e+01] [-1.01486693e-02 -2.88324254e-05 9.99948501e-01 -4.13124969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.11, Y:-20.60, Z:-4.13 [[ 9.87973856e-01 1.54262038e-01 1.05300725e-02 1.69105505e+02] [-1.54253730e-01 9.88029970e-01 -1.60159947e-03 -2.05963508e+01] [-1.06510932e-02 -4.19645461e-05 9.99943275e-01 -4.13202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.14, Y:-20.60, Z:-4.13 [[ 9.87492675e-01 1.57333376e-01 1.02188473e-02 1.69135399e+02] [-1.57325724e-01 9.87545545e-01 -1.55345495e-03 -2.06012303e+01] [-1.03359875e-02 -7.36621688e-05 9.99946580e-01 -4.13230400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.16, Y:-20.61, Z:-4.13 [[ 9.87130711e-01 1.59626327e-01 9.61225800e-03 1.69163341e+02] [-1.59619661e-01 9.87177506e-01 -1.46160224e-03 -2.06053984e+01] [-9.72231507e-03 -9.15129074e-05 9.99952733e-01 -4.13309433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:-20.61, Z:-4.13 [[ 9.86722330e-01 1.62149343e-01 9.30770074e-03 1.69192091e+02] [-1.62143207e-01 9.86766222e-01 -1.41519390e-03 -2.06089601e+01] [-9.41399746e-03 -1.12777023e-04 9.99955681e-01 -4.13405379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.22, Y:-20.61, Z:-4.14 [[ 9.85761351e-01 1.67865487e-01 9.78452163e-03 1.69220638e+02] [-1.67858989e-01 9.85809894e-01 -1.48745765e-03 -2.06112559e+01] [-9.89537104e-03 -1.76141649e-04 9.99951024e-01 -4.13507552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.25, Y:-20.61, Z:-4.14 [[ 9.85286948e-01 1.70601810e-01 1.02300141e-02 1.69248781e+02] [-1.70594860e-01 9.85340031e-01 -1.55465657e-03 -2.06145624e+01] [-1.03452697e-02 -2.13404997e-04 9.99946463e-01 -4.13601432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.28, Y:-20.61, Z:-4.14 [[ 9.84437701e-01 1.75423176e-01 1.04462038e-02 1.69277157e+02] [-1.75416204e-01 9.84493086e-01 -1.58712296e-03 -2.06147119e+01] [-1.05626336e-02 -2.70009751e-04 9.99944177e-01 -4.13662159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.30, Y:-20.62, Z:-4.14 [[ 9.84137661e-01 1.77127954e-01 9.93745114e-03 1.69304858e+02] [-1.77121737e-01 9.84187793e-01 -1.50925043e-03 -2.06163462e+01] [-1.00476485e-02 -2.74828424e-04 9.99949483e-01 -4.13759121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.33, Y:-20.62, Z:-4.14 [[ 9.84012468e-01 1.77856486e-01 9.30233236e-03 1.69333669e+02] [-1.77851076e-01 9.84056401e-01 -1.41220744e-03 -2.06186295e+01] [-9.40518995e-03 -2.64800097e-04 9.99955735e-01 -4.13929130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:-20.62, Z:-4.14 [[ 9.84147411e-01 1.77183868e-01 7.72983207e-03 1.69361848e+02] [-1.77180112e-01 9.84177744e-01 -1.17347978e-03 -2.06184804e+01] [-7.81545037e-03 -2.14695425e-04 9.99969436e-01 -4.13999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.39, Y:-20.62, Z:-4.14 [[ 9.84419696e-01 1.75654979e-01 7.94917811e-03 1.69389333e+02] [-1.75650962e-01 9.84451769e-01 -1.20619870e-03 -2.06205878e+01] [-8.03745726e-03 -2.08875023e-04 9.99967677e-01 -4.14122047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.42, Y:-20.62, Z:-4.14 [[ 9.85543860e-01 1.69184741e-01 8.93440670e-03 1.69417530e+02] [-1.69179404e-01 9.85584341e-01 -1.35529968e-03 -2.06246718e+01] [-9.03490736e-03 -1.75810320e-04 9.99959169e-01 -4.14152025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:-20.63, Z:-4.14 [[ 9.86290286e-01 1.64791843e-01 8.66717098e-03 1.69445689e+02] [-1.64786660e-01 9.86328359e-01 -1.31365547e-03 -2.06295363e+01] [-8.76515624e-03 -1.32588527e-04 9.99961576e-01 -4.14194943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.47, Y:-20.63, Z:-4.14 [[ 9.86296018e-01 1.64757527e-01 8.66725724e-03 1.69474694e+02] [-1.64752348e-01 9.86334091e-01 -1.31308599e-03 -2.06338428e+01] [-8.76515209e-03 -1.32859494e-04 9.99961576e-01 -4.14263563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:-20.64, Z:-4.14 [[ 9.87044574e-01 1.60207753e-01 8.74552137e-03 1.69502558e+02] [-1.60202301e-01 9.87083313e-01 -1.32496140e-03 -2.06378566e+01] [-8.84482730e-03 -9.32566800e-05 9.99960879e-01 -4.14321371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.53, Y:-20.64, Z:-4.14 [[ 9.87711503e-01 1.56033308e-01 8.92151202e-03 1.69531052e+02] [-1.56027470e-01 9.87751793e-01 -1.35091505e-03 -2.06411004e+01] [-9.02302724e-03 -5.76866150e-05 9.99959290e-01 -4.14390502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.56, Y:-20.64, Z:-4.15 [[ 9.88653387e-01 1.49919624e-01 9.41199936e-03 1.69559796e+02] [-1.49912858e-01 9.88698188e-01 -1.42434299e-03 -2.06445522e+01] [-9.51916368e-03 -2.79819977e-06 9.99954692e-01 -4.14501860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:-20.65, Z:-4.15 [[ 9.88956104e-01 1.47900463e-01 9.55394124e-03 1.69587960e+02] [-1.47893396e-01 9.89002251e-01 -1.44592783e-03 -2.06488916e+01] [-9.66272279e-03 1.69943353e-05 9.99953315e-01 -4.14567114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.62, Y:-20.65, Z:-4.15 [[ 9.89120490e-01 1.46779766e-01 9.81616496e-03 1.69616509e+02] [-1.46772258e-01 9.89169197e-01 -1.48478902e-03 -2.06528529e+01] [-9.92778500e-03 2.78945402e-05 9.99950718e-01 -4.14606802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.65, Y:-20.66, Z:-4.15 [[ 9.89157166e-01 1.46515632e-01 1.00633623e-02 1.69645333e+02] [-1.46507728e-01 9.89208354e-01 -1.52219353e-03 -2.06567047e+01] [-1.01777872e-02 3.13282889e-05 9.99948204e-01 -4.14694527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.67, Y:-20.66, Z:-4.15 [[ 9.89077287e-01 1.47093753e-01 9.46296525e-03 1.69674088e+02] [-1.47086796e-01 9.89122554e-01 -1.43081448e-03 -2.06615109e+01] [-9.57049624e-03 2.33088719e-05 9.99954201e-01 -4.14776239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.70, Y:-20.67, Z:-4.15 [[ 9.88797742e-01 1.48988441e-01 9.02609766e-03 1.69702371e+02] [-1.48982191e-01 9.88838938e-01 -1.36467420e-03 -2.06670429e+01] [-9.12867750e-03 4.65896267e-06 9.99958333e-01 -4.14858480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.73, Y:-20.67, Z:-4.15 [[ 9.88661405e-01 1.49886375e-01 9.09400658e-03 1.69730258e+02] [-1.49880071e-01 9.88703229e-01 -1.37464784e-03 -2.06707563e+01] [-9.19731465e-03 -3.94909177e-06 9.99957704e-01 -4.14901004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.76, Y:-20.68, Z:-4.15 [[ 9.88541407e-01 1.50682536e-01 8.98109016e-03 1.69758772e+02] [-1.50676430e-01 9.88582204e-01 -1.35652425e-03 -2.06753071e+01] [-9.08295042e-03 -1.22582095e-05 9.99958749e-01 -4.15016795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:-20.68, Z:-4.15 [[ 9.88570204e-01 1.50502465e-01 8.82949524e-03 1.69787032e+02] [-1.50496556e-01 9.88609634e-01 -1.33370059e-03 -2.06810282e+01] [-8.92964929e-03 -1.03519640e-05 9.99960130e-01 -4.15088574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.82, Y:-20.69, Z:-4.15 [[ 9.88592035e-01 1.50324953e-01 9.39126763e-03 1.69815723e+02] [-1.50318265e-01 9.88636641e-01 -1.41804039e-03 -2.06866261e+01] [-9.49771814e-03 -9.81562112e-06 9.99954896e-01 -4.15159054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:-20.69, Z:-4.15 [[ 9.88620516e-01 1.50107701e-01 9.85665521e-03 1.69844955e+02] [-1.50100331e-01 9.88669651e-01 -1.48747839e-03 -2.06930329e+01] [-9.96825783e-03 -8.93556151e-06 9.99950316e-01 -4.15245356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:169.87, Y:-20.70, Z:-4.15 [[ 9.88622179e-01 1.50069392e-01 1.02647378e-02 1.69873947e+02] [-1.50061400e-01 9.88675466e-01 -1.54878155e-03 -2.06995438e+01] [-1.03809191e-02 -9.18113799e-06 9.99946117e-01 -4.15349260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:-20.71, Z:-4.15 [[ 9.88414332e-01 1.51435861e-01 1.02121706e-02 1.69902597e+02] [-1.51428028e-01 9.88467086e-01 -1.54043385e-03 -2.07080136e+01] [-1.03276714e-02 -2.38219694e-05 9.99946668e-01 -4.15399137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-20.71, Z:-4.15 [[ 9.88223856e-01 1.52686529e-01 1.00217157e-02 1.69930358e+02] [-1.52679048e-01 9.88274670e-01 -1.51188938e-03 -2.07131402e+01] [-1.01350529e-02 -3.60208652e-05 9.99948638e-01 -4.15471497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.96, Y:-20.72, Z:-4.16 [[ 9.87713506e-01 1.55958836e-01 9.94343068e-03 1.69959255e+02] [-1.55951642e-01 9.87763553e-01 -1.49959128e-03 -2.07184840e+01] [-1.00556329e-02 -6.95277843e-05 9.99949438e-01 -4.15511560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.99, Y:-20.72, Z:-4.15 [[ 9.87430276e-01 1.57703827e-01 1.05334225e-02 1.69987051e+02] [-1.57695855e-01 9.87486453e-01 -1.58842581e-03 -2.07237102e+01] [-1.06521129e-02 -9.26173281e-05 9.99943260e-01 -4.15496818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:-20.73, Z:-4.16 [[ 9.87174187e-01 1.59261565e-01 1.10850123e-02 1.70015909e+02] [-1.59252841e-01 9.87236416e-01 -1.67099843e-03 -2.07289655e+01] [-1.12096536e-02 -1.15753174e-04 9.99937163e-01 -4.15598370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:-20.74, Z:-4.16 [[ 9.86582042e-01 1.62875134e-01 1.12944952e-02 1.70043723e+02] [-1.62866315e-01 9.86646677e-01 -1.70242853e-03 -2.07354945e+01] [-1.14209595e-02 -1.59907405e-04 9.99934766e-01 -4.15649367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:-20.74, Z:-4.16 [[ 9.86202124e-01 1.65121719e-01 1.18401359e-02 1.70073209e+02] [-1.65112197e-01 9.86273177e-01 -1.78405479e-03 -2.07411394e+01] [-1.19721947e-02 -1.95512232e-04 9.99928312e-01 -4.15723399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.10, Y:-20.75, Z:-4.16 [[ 9.85737407e-01 1.67817100e-01 1.26168714e-02 1.70102915e+02] [-1.67806512e-01 9.85818118e-01 -1.90074840e-03 -2.07463480e+01] [-1.27569185e-02 -2.43554383e-04 9.99918598e-01 -4.15797882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:-20.75, Z:-4.16 [[ 9.84751299e-01 1.73438590e-01 1.35622468e-02 1.70131917e+02] [-1.73426892e-01 9.84844627e-01 -2.04290848e-03 -2.07491714e+01] [-1.37110250e-02 -3.40301526e-04 9.99905942e-01 -4.15859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:-20.75, Z:-4.16 [[ 9.84294818e-01 1.76051241e-01 1.30257800e-02 1.70161457e+02] [-1.76040686e-01 9.84380937e-01 -1.96152105e-03 -2.07517967e+01] [-1.31676577e-02 -3.62352247e-04 9.99913237e-01 -4.15958262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.19, Y:-20.75, Z:-4.16 [[ 9.83548692e-01 1.80324027e-01 1.07338780e-02 1.70190835e+02] [-1.80317112e-01 9.83607201e-01 -1.61652878e-03 -2.07509024e+01] [-1.08494186e-02 -3.45567111e-04 9.99941084e-01 -4.16116032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.22, Y:-20.75, Z:-4.16 [[ 9.83282621e-01 1.81843490e-01 9.39316089e-03 1.70219320e+02] [-1.81838267e-01 9.83327435e-01 -1.41432367e-03 -2.07522683e+01] [-9.49373835e-03 -3.17356209e-04 9.99954883e-01 -4.16244881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:-20.75, Z:-4.16 [[ 9.83084051e-01 1.82958064e-01 8.49091932e-03 1.70247613e+02] [-1.82953838e-01 9.83120674e-01 -1.27841077e-03 -2.07540395e+01] [-8.58149388e-03 -2.96661041e-04 9.99963134e-01 -4.16394035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-20.75, Z:-4.17 [[ 9.83009598e-01 1.83420724e-01 6.99772906e-03 1.70276290e+02] [-1.83417869e-01 9.83034474e-01 -1.05310490e-03 -2.07540100e+01] [-7.07217016e-03 -2.48296322e-04 9.99974961e-01 -4.16582506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:-20.76, Z:-4.17 [[ 9.83196820e-01 1.82417051e-01 6.93060867e-03 1.70304646e+02] [-1.82414225e-01 9.83221218e-01 -1.04307446e-03 -2.07564224e+01] [-7.00459606e-03 -2.38694120e-04 9.99975439e-01 -4.16693447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:-20.76, Z:-4.17 [[ 9.83508213e-01 1.80704866e-01 7.57277529e-03 1.70332852e+02] [-1.80701446e-01 9.83537335e-01 -1.13903847e-03 -2.07591393e+01] [-7.65393703e-03 -2.48157752e-04 9.99970677e-01 -4.16749923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.36, Y:-20.76, Z:-4.17 [[ 9.84499679e-01 1.75113907e-01 9.77252837e-03 1.70362061e+02] [-1.75107952e-01 9.84548145e-01 -1.46842986e-03 -2.07592898e+01] [-9.87866716e-03 -2.65578704e-04 9.99951170e-01 -4.16671685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-20.76, Z:-4.17 [[ 9.85090671e-01 1.71711851e-01 1.05550963e-02 1.70390570e+02] [-1.71704714e-01 9.85147186e-01 -1.58543412e-03 -2.07604023e+01] [-1.06705613e-02 -2.50563440e-04 9.99943037e-01 -4.16656675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:-20.76, Z:-4.17 [[ 9.86340390e-01 1.64295120e-01 1.18215016e-02 1.70418537e+02] [-1.64285642e-01 9.86411211e-01 -1.77509084e-03 -2.07597141e+01] [-1.19525005e-02 -1.91259185e-04 9.99928548e-01 -4.16732500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.45, Y:-20.76, Z:-4.17 [[ 9.86955559e-01 1.60540248e-01 1.20645879e-02 1.70447045e+02] [-1.60530106e-01 9.87029283e-01 -1.81070574e-03 -2.07629226e+01] [-1.21987927e-02 -1.49643477e-04 9.99925581e-01 -4.16792933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:-20.77, Z:-4.17 [[ 9.87583929e-01 1.56593700e-01 1.25058451e-02 1.70475195e+02] [-1.56582494e-01 9.87663102e-01 -1.87630828e-03 -2.07668769e+01] [-1.26453798e-02 -1.05184501e-04 9.99920038e-01 -4.16875895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:-20.77, Z:-4.17 [[ 9.88840121e-01 1.48403428e-01 1.31010682e-02 1.70504606e+02] [-1.48390422e-01 9.88926905e-01 -1.96469673e-03 -2.07717678e+01] [-1.32475665e-02 -1.30208909e-06 9.99912247e-01 -4.16997759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:-20.78, Z:-4.17 [[ 9.89471333e-01 1.44145689e-01 1.29808455e-02 1.70533005e+02] [-1.44132557e-01 9.89556475e-01 -1.94647499e-03 -2.07756761e+01] [-1.31258557e-02 5.50187483e-05 9.99913851e-01 -4.17088496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.56, Y:-20.78, Z:-4.17 [[ 9.90039345e-01 1.40201454e-01 1.28703857e-02 1.70562044e+02] [-1.40188218e-01 9.90122993e-01 -1.92931883e-03 -2.07798508e+01] [-1.30137582e-02 1.05825111e-04 9.99915312e-01 -4.17223212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.59, Y:-20.79, Z:-4.17 [[ 9.91010590e-01 1.33266809e-01 1.17459473e-02 1.70591894e+02] [-1.33255305e-01 9.91080181e-01 -1.76010056e-03 -2.07878887e+01] [-1.18757386e-02 1.79068503e-04 9.99929465e-01 -4.17292042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:-20.79, Z:-4.17 [[ 9.91341420e-01 1.30796252e-01 1.15987013e-02 1.70621959e+02] [-1.30784863e-01 9.91409248e-01 -1.73831587e-03 -2.07938090e+01] [-1.17264249e-02 2.06329962e-04 9.99931222e-01 -4.17323591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.65, Y:-20.80, Z:-4.17 [[ 9.91641796e-01 1.28503930e-01 1.15450903e-02 1.70651404e+02] [-1.28492490e-01 9.91708972e-01 -1.73028111e-03 -2.07999859e+01] [-1.16717176e-02 2.32361662e-04 9.99931856e-01 -4.17375679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.68, Y:-20.81, Z:-4.17 [[ 9.91587775e-01 1.28970303e-01 1.09701983e-02 1.70681031e+02] [-1.28960003e-01 9.91648433e-01 -1.64412113e-03 -2.08058812e+01] [-1.10906228e-02 2.15573604e-04 9.99938474e-01 -4.17443322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:-20.81, Z:-4.17 [[ 9.91430067e-01 1.30247923e-01 1.00946126e-02 1.70710585e+02] [-1.30239268e-01 9.91481439e-01 -1.51289569e-03 -2.08117011e+01] [-1.02056725e-02 1.85215325e-04 9.99947904e-01 -4.17496177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.74, Y:-20.82, Z:-4.18 [[ 9.90728803e-01 1.35454503e-01 1.04171677e-02 1.70739651e+02] [-1.35445570e-01 9.90783558e-01 -1.56155634e-03 -2.08168918e+01] [-1.05326784e-02 1.36119619e-04 9.99944521e-01 -4.17568981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.77, Y:-20.82, Z:-4.18 [[ 9.90271208e-01 1.38731264e-01 1.07967980e-02 1.70768175e+02] [-1.38721865e-01 9.90330059e-01 -1.61832595e-03 -2.08216558e+01] [-1.09169060e-02 1.04829648e-04 9.99940403e-01 -4.17609639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:-20.83, Z:-4.18 [[ 9.89330249e-01 1.45233187e-01 1.15317066e-02 1.70796592e+02] [-1.45222909e-01 9.89397453e-01 -1.72811340e-03 -2.08274929e+01] [-1.16604205e-02 3.50068834e-05 9.99932014e-01 -4.17640402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.83, Y:-20.83, Z:-4.18 [[ 9.88860113e-01 1.48349174e-01 1.21736982e-02 1.70825776e+02] [-1.48337968e-01 9.88935045e-01 -1.82340686e-03 -2.08322014e+01] [-1.23094976e-02 -2.72733802e-06 9.99924235e-01 -4.17704796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-20.84, Z:-4.18 [[ 9.88433454e-01 1.51136081e-01 1.25376190e-02 1.70854250e+02] [-1.51124421e-01 9.88512966e-01 -1.87772248e-03 -2.08365593e+01] [-1.26773905e-02 -3.87366796e-05 9.99919638e-01 -4.17781484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:-20.84, Z:-4.18 [[ 9.88051799e-01 1.53663379e-01 1.18831218e-02 1.70883325e+02] [-1.53653093e-01 9.88123252e-01 -1.77918708e-03 -2.08413635e+01] [-1.20153848e-02 -6.79494246e-05 9.99927810e-01 -4.17861036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:-20.85, Z:-4.18 [[ 9.87412527e-01 1.57750449e-01 1.14585150e-02 1.70911529e+02] [-1.57741163e-01 9.87479004e-01 -1.71536846e-03 -2.08473702e+01] [-1.15856431e-02 -1.13703187e-04 9.99932878e-01 -4.18013364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:-20.85, Z:-4.18 [[ 9.86920501e-01 1.60762501e-01 1.19725994e-02 1.70939485e+02] [-1.60752586e-01 9.86993107e-01 -1.79222590e-03 -2.08545541e+01] [-1.21049958e-02 -1.55841834e-04 9.99926720e-01 -4.18123437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.97, Y:-20.86, Z:-4.18 [[ 9.86682460e-01 1.62215292e-01 1.19967366e-02 1.70967310e+02] [-1.62205449e-01 9.86755374e-01 -1.79539127e-03 -2.08589088e+01] [-1.21290843e-02 -1.74454985e-04 9.99926425e-01 -4.18150863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.00, Y:-20.86, Z:-4.18 [[ 9.86396706e-01 1.63935539e-01 1.21110651e-02 1.70995780e+02] [-1.63925648e-01 9.86471033e-01 -1.81164123e-03 -2.08624171e+01] [-1.22442073e-02 -1.98317264e-04 9.99925017e-01 -4.18189975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:-20.87, Z:-4.18 [[ 9.86037010e-01 1.66097085e-01 1.19487855e-02 1.71023983e+02] [-1.66087623e-01 9.86109380e-01 -1.78681442e-03 -2.08660111e+01] [-1.20795941e-02 -2.22680224e-04 9.99927014e-01 -4.18247921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:-20.87, Z:-4.18 [[ 9.85371662e-01 1.70076995e-01 1.07936659e-02 1.71052686e+02] [-1.70069517e-01 9.85430746e-01 -1.61366964e-03 -2.08700867e+01] [-1.09108583e-02 -2.45609214e-04 9.99940445e-01 -4.18378549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.08, Y:-20.87, Z:-4.18 [[ 9.85044363e-01 1.71988336e-01 1.03737787e-02 1.71081709e+02] [-1.71981539e-01 9.85098953e-01 -1.55044636e-03 -2.08737143e+01] [-1.04858572e-02 -2.56839980e-04 9.99944989e-01 -4.18444486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.11, Y:-20.88, Z:-4.18 [[ 9.84760575e-01 1.73601629e-01 1.04443181e-02 1.71110195e+02] [-1.73594835e-01 9.84815921e-01 -1.56048656e-03 -2.08765466e+01] [-1.05566337e-02 -2.76374034e-04 9.99944239e-01 -4.18483898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:-20.88, Z:-4.19 [[ 9.84261307e-01 1.76353306e-01 1.13662522e-02 1.71137961e+02] [-1.76345449e-01 9.84326877e-01 -1.69775932e-03 -2.08775482e+01] [-1.14875130e-02 -3.33348042e-04 9.99933961e-01 -4.18527375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:-20.88, Z:-4.19 [[ 9.84171039e-01 1.76853659e-01 1.14083324e-02 1.71166135e+02] [-1.76845786e-01 9.84237099e-01 -1.70325695e-03 -2.08794170e+01] [-1.15297312e-02 -3.41219359e-04 9.99933472e-01 -4.18577591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:-20.88, Z:-4.19 [[ 9.84148757e-01 1.76997723e-01 1.10919024e-02 1.71194749e+02] [-1.76990300e-01 9.84211204e-01 -1.65511331e-03 -2.08812497e+01] [-1.12097259e-02 -3.34281417e-04 9.99937113e-01 -4.18612922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.22, Y:-20.88, Z:-4.19 [[ 9.84243788e-01 1.76508438e-01 1.04372868e-02 1.71222808e+02] [-1.76501841e-01 9.84299078e-01 -1.55714278e-03 -2.08807310e+01] [-1.05482606e-02 -3.09592221e-04 9.99944318e-01 -4.18737088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.25, Y:-20.88, Z:-4.19 [[ 9.84348268e-01 1.75926827e-01 1.04038010e-02 1.71251321e+02] [-1.75920247e-01 9.84403200e-01 -1.55139927e-03 -2.08825522e+01] [-1.05144678e-02 -3.03122064e-04 9.99944676e-01 -4.18842515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:-20.88, Z:-4.19 [[ 9.84679119e-01 1.74012892e-01 1.12492879e-02 1.71279621e+02] [-1.74005080e-01 9.84743327e-01 -1.67702984e-03 -2.08817733e+01] [-1.13694860e-02 -3.06096987e-04 9.99935318e-01 -4.18917707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.31, Y:-20.89, Z:-4.19 [[ 9.84685260e-01 1.73978129e-01 1.12494516e-02 1.71308635e+02] [-1.73970327e-01 9.84749469e-01 -1.67593115e-03 -2.08860107e+01] [-1.13694668e-02 -3.06806078e-04 9.99935318e-01 -4.18986327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.34, Y:-20.89, Z:-4.19 [[ 9.84935439e-01 1.72547689e-01 1.13787782e-02 1.71336423e+02] [-1.72539613e-01 9.85001121e-01 -1.69505735e-03 -2.08876856e+01] [-1.15005875e-02 -2.93767921e-04 9.99933823e-01 -4.19060017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:-20.89, Z:-4.19 [[ 9.85206929e-01 1.71012407e-01 1.10482263e-02 1.71365246e+02] [-1.71004706e-01 9.85268839e-01 -1.64505174e-03 -2.08897647e+01] [-1.11667973e-02 -2.68582311e-04 9.99937613e-01 -4.19109344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:-20.89, Z:-4.19 [[ 9.85826419e-01 1.67413124e-01 1.09141197e-02 1.71393481e+02] [-1.67405391e-01 9.85886806e-01 -1.62477475e-03 -2.08876645e+01] [-1.10320952e-02 -2.25336603e-04 9.99939119e-01 -4.19188023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:-20.89, Z:-4.19 [[ 9.86182550e-01 1.65250616e-01 1.16709989e-02 1.71422668e+02] [-1.65241635e-01 9.86251584e-01 -1.73640422e-03 -2.08890110e+01] [-1.17974830e-02 -2.16123383e-04 9.99930384e-01 -4.19263698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.45, Y:-20.89, Z:-4.19 [[ 9.86562810e-01 1.62890482e-01 1.26693365e-02 1.71451711e+02] [-1.62879712e-01 9.86644135e-01 -1.88424009e-03 -2.08911443e+01] [-1.28070513e-02 -2.04656683e-04 9.99917965e-01 -4.19312471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:-20.89, Z:-4.19 [[ 9.87382200e-01 1.57808596e-01 1.31468007e-02 1.71480600e+02] [-1.57796557e-01 9.87469709e-01 -1.95459831e-03 -2.08930016e+01] [-1.32905199e-02 -1.44584312e-04 9.99911667e-01 -4.19352178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:-20.90, Z:-4.19 [[ 9.87783547e-01 1.55279580e-01 1.31117230e-02 1.71508984e+02] [-1.55267390e-01 9.87870558e-01 -1.94875226e-03 -2.08954415e+01] [-1.32552866e-02 -1.10877598e-04 9.99912139e-01 -4.19387931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.54, Y:-20.90, Z:-4.20 [[ 9.88454862e-01 1.50953916e-01 1.30346050e-02 1.71538170e+02] [-1.50941502e-01 9.88540800e-01 -1.93664130e-03 -2.08960421e+01] [-1.31775825e-02 -5.31803483e-05 9.99913170e-01 -4.19505901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.57, Y:-20.90, Z:-4.20 [[ 9.88715670e-01 1.49256553e-01 1.27986377e-02 1.71566765e+02] [-1.49244450e-01 9.88798503e-01 -1.90096840e-03 -2.08992236e+01] [-1.29390057e-02 -3.06083881e-05 9.99916287e-01 -4.19593101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.59, Y:-20.90, Z:-4.20 [[ 9.88943199e-01 1.47790143e-01 1.22238362e-02 1.71594022e+02] [-1.47778996e-01 9.89018743e-01 -1.81516361e-03 -2.09031852e+01] [-1.23578664e-02 -1.13325320e-05 9.99923639e-01 -4.19650162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:-20.91, Z:-4.20 [[ 9.89111245e-01 1.46677685e-01 1.20250571e-02 1.71621716e+02] [-1.46666824e-01 9.89184339e-01 -1.78491302e-03 -2.09072503e+01] [-1.21568050e-02 1.80061116e-06 9.99926103e-01 -4.19776048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.65, Y:-20.91, Z:-4.20 [[ 9.89283556e-01 1.45605710e-01 1.08176923e-02 1.71650043e+02] [-1.45596864e-01 9.89342700e-01 -1.60501042e-03 -2.09110400e+01] [-1.09361036e-02 1.27883308e-05 9.99940199e-01 -4.19880307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-20.92, Z:-4.20 [[ 9.89240976e-01 1.45935226e-01 1.02567420e-02 1.71678457e+02] [-1.45927296e-01 9.89294147e-01 -1.52134733e-03 -2.09150393e+01] [-1.03689530e-02 8.24049207e-06 9.99946241e-01 -4.19954103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:-20.92, Z:-4.20 [[ 9.88889888e-01 1.48270166e-01 1.06182801e-02 1.71706689e+02] [-1.48261806e-01 9.88946893e-01 -1.57455308e-03 -2.09171771e+01] [-1.07343743e-02 -1.72257638e-05 9.99942385e-01 -4.19947861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.74, Y:-20.92, Z:-4.20 [[ 9.88649649e-01 1.49808039e-01 1.13764638e-02 1.71735677e+02] [-1.49798556e-01 9.88715101e-01 -1.68600787e-03 -2.09201971e+01] [-1.15006591e-02 -3.73067591e-05 9.99933865e-01 -4.20020549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:-20.92, Z:-4.20 [[ 9.88409529e-01 1.51372719e-01 1.15283609e-02 1.71763710e+02] [-1.51363092e-01 9.88476756e-01 -1.70808676e-03 -2.09239081e+01] [-1.16540746e-02 -5.66791310e-05 9.99932087e-01 -4.20108296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-20.93, Z:-4.20 [[ 9.87953419e-01 1.54362160e-01 1.09710772e-02 1.71791748e+02] [-1.54353634e-01 9.88014330e-01 -1.62477682e-03 -2.09285178e+01] [-1.10903855e-02 -8.82218221e-05 9.99938496e-01 -4.20226211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.82, Y:-20.93, Z:-4.20 [[ 9.87742058e-01 1.55697853e-01 1.11268362e-02 1.71818054e+02] [-1.55689169e-01 9.87804721e-01 -1.64772381e-03 -2.09322903e+01] [-1.12476884e-02 -1.04801784e-04 9.99936737e-01 -4.20278542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:-20.94, Z:-4.20 [[ 9.87538617e-01 1.56958622e-01 1.14660819e-02 1.71845553e+02] [-1.56949499e-01 9.87605172e-01 -1.69678542e-03 -2.09362192e+01] [-1.15902869e-02 -1.23954682e-04 9.99932823e-01 -4.20358429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:-20.94, Z:-4.20 [[ 9.87119908e-01 1.59615639e-01 1.08228924e-02 1.71873991e+02] [-1.59607678e-01 9.87179227e-01 -1.60093921e-03 -2.09377055e+01] [-1.09396695e-02 -1.47097753e-04 9.99940149e-01 -4.20411038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-20.94, Z:-4.20 [[ 9.86922238e-01 1.60887349e-01 9.98781327e-03 1.71901584e+02] [-1.60880640e-01 9.86972765e-01 -1.47684493e-03 -2.09393001e+01] [-1.00953053e-02 -1.49314688e-04 9.99949030e-01 -4.20419859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.93, Y:-20.94, Z:-4.21 [[ 9.86586802e-01 1.62895002e-01 1.05688701e-02 1.71929186e+02] [-1.62887612e-01 9.86643393e-01 -1.56202251e-03 -2.09392989e+01] [-1.06821515e-02 -1.80467222e-04 9.99942928e-01 -4.20576122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:-20.94, Z:-4.21 [[ 9.86583409e-01 1.62897897e-01 1.08375221e-02 1.71956645e+02] [-1.62890141e-01 9.86642914e-01 -1.60054124e-03 -2.09424846e+01] [-1.09534892e-02 -1.86258068e-04 9.99939991e-01 -4.20653906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:-20.95, Z:-4.21 [[ 9.86609931e-01 1.62732869e-01 1.09021502e-02 1.71984084e+02] [-1.62725018e-01 9.86670147e-01 -1.60932545e-03 -2.09458505e+01] [-1.10187163e-02 -1.86276117e-04 9.99939275e-01 -4.20729426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.01, Y:-20.95, Z:-4.21 [[ 9.86805972e-01 1.61571187e-01 1.04271475e-02 1.72010982e+02] [-1.61563946e-01 9.86861046e-01 -1.53865465e-03 -2.09484271e+01] [-1.05387480e-02 -1.66297498e-04 9.99944452e-01 -4.20792288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.04, Y:-20.95, Z:-4.21 [[ 9.86963458e-01 1.60608254e-01 1.03981085e-02 1.72038747e+02] [-1.60601011e-01 9.87018219e-01 -1.53328716e-03 -2.09524699e+01] [-1.05093811e-02 -1.56648347e-04 9.99944763e-01 -4.20878526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:172.07, Y:-20.96, Z:-4.21 [[ 9.87395094e-01 1.57967976e-01 9.85126440e-03 1.72066285e+02] [-1.57961350e-01 9.87444228e-01 -1.45202611e-03 -2.09557912e+01] [-9.95694780e-03 -1.22395572e-04 9.99950421e-01 -4.21057593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:-20.96, Z:-4.21 [[ 9.87671599e-01 1.56225705e-01 9.91669937e-03 1.72093940e+02] [-1.56218910e-01 9.87721377e-01 -1.46095870e-03 -2.09589594e+01] [-1.00231753e-02 -1.06228552e-04 9.99949761e-01 -4.21041198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.12, Y:-20.96, Z:-4.21 [[ 9.87919680e-01 1.54603709e-01 1.06018334e-02 1.72121141e+02] [-1.54595857e-01 9.87976560e-01 -1.56115518e-03 -2.09623615e+01] [-1.07157233e-02 -9.67035892e-05 9.99942580e-01 -4.21097555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.15, Y:-20.97, Z:-4.21 [[ 9.88433454e-01 1.51254029e-01 1.10238983e-02 1.72148791e+02] [-1.51245344e-01 9.88494924e-01 -1.62214552e-03 -2.09671362e+01] [-1.11424236e-02 -6.39303938e-05 9.99937919e-01 -4.21104950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:172.18, Y:-20.97, Z:-4.21 [[ 9.88578618e-01 1.50299243e-01 1.10658690e-02 1.72177632e+02] [-1.50290444e-01 9.88640549e-01 -1.62725328e-03 -2.09724006e+01] [-1.11847417e-02 -5.44265640e-05 9.99937447e-01 -4.21252238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:-20.98, Z:-4.21 [[ 9.88647089e-01 1.49861983e-01 1.08774377e-02 1.72204684e+02] [-1.49853458e-01 9.88706925e-01 -1.59917107e-03 -2.09766319e+01] [-1.09942529e-02 -4.90058352e-05 9.99939560e-01 -4.21231458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:-20.98, Z:-4.21 [[ 9.88527979e-01 1.50636417e-01 1.10047651e-02 1.72232461e+02] [-1.50627747e-01 9.88589230e-01 -1.61718440e-03 -2.09796707e+01] [-1.11227991e-02 -5.89909565e-05 9.99938138e-01 -4.21262817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.26, Y:-20.98, Z:-4.21 [[ 9.88409382e-01 1.51397829e-01 1.12067225e-02 1.72261436e+02] [-1.51388897e-01 9.88472909e-01 -1.64601377e-03 -2.09837629e+01] [-1.13267445e-02 -6.96379000e-05 9.99935848e-01 -4.21315498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.29, Y:-20.99, Z:-4.21 [[ 9.88275531e-01 1.52278088e-01 1.10842004e-02 1.72290024e+02] [-1.52269411e-01 9.88337684e-01 -1.62747617e-03 -2.09870958e+01] [-1.12027619e-02 -7.93897971e-05 9.99937244e-01 -4.21344945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-20.99, Z:-4.21 [[ 9.87999974e-01 1.54105066e-01 1.03768975e-02 1.72316755e+02] [-1.54097559e-01 9.88054462e-01 -1.52387361e-03 -2.09877520e+01] [-1.04877765e-02 -9.34674826e-05 9.99944997e-01 -4.21379207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:-20.99, Z:-4.21 [[ 9.87949925e-01 1.54457474e-01 9.89112831e-03 1.72344060e+02] [-1.54450685e-01 9.87999433e-01 -1.45122960e-03 -2.09910420e+01] [-9.99658242e-03 -9.39493694e-05 9.99950029e-01 -4.21466889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:-20.99, Z:-4.22 [[ 9.87952032e-01 1.54465706e-01 9.54608803e-03 1.72370875e+02] [-1.54459388e-01 9.87998146e-01 -1.40011296e-03 -2.09949410e+01] [-9.64778671e-03 -9.12384693e-05 9.99953455e-01 -4.21558709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.40, Y:-21.00, Z:-4.22 [[ 9.88014877e-01 1.54078374e-01 9.29820606e-03 1.72398645e+02] [-1.54072371e-01 9.88058625e-01 -1.36283644e-03 -2.09987345e+01] [-9.39715632e-03 -8.60939703e-05 9.99955842e-01 -4.21648051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.42, Y:-21.00, Z:-4.22 [[ 9.88146929e-01 1.53226892e-01 9.33630555e-03 1.72424947e+02] [-1.53220806e-01 9.88191031e-01 -1.36787962e-03 -2.10021927e+01] [-9.43564935e-03 -7.88502211e-05 9.99955480e-01 -4.21766310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:-21.01, Z:-4.22 [[ 9.88302263e-01 1.52224682e-01 9.28885085e-03 1.72453133e+02] [-1.52218622e-01 9.88345912e-01 -1.35998759e-03 -2.10061872e+01] [-9.38762144e-03 -6.98572676e-05 9.99955933e-01 -4.21872614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.48, Y:-21.01, Z:-4.22 [[ 9.88479464e-01 1.51003715e-01 1.03066401e-02 1.72480335e+02] [-1.50996197e-01 9.88533193e-01 -1.50818436e-03 -2.10085761e+01] [-1.04161973e-02 -6.54541934e-05 9.99945748e-01 -4.21880762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.51, Y:-21.01, Z:-4.22 [[ 9.88557771e-01 1.50454519e-01 1.08152725e-02 1.72508643e+02] [-1.50446222e-01 9.88616930e-01 -1.58140683e-03 -2.10111035e+01] [-1.09300913e-02 -6.38048672e-05 9.99940263e-01 -4.21902989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:-21.01, Z:-4.22 [[ 9.88700044e-01 1.49529926e-01 1.06313101e-02 1.72535784e+02] [-1.49521859e-01 9.88757199e-01 -1.55409135e-03 -2.10143941e+01] [-1.07441676e-02 -5.30830593e-05 9.99942278e-01 -4.22001919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:-21.02, Z:-4.22 [[ 9.88835613e-01 1.48654872e-01 1.02887741e-02 1.72563799e+02] [-1.48647284e-01 9.88889138e-01 -1.50268755e-03 -2.10182830e+01] [-1.03978388e-02 -4.34873627e-05 9.99945940e-01 -4.22120591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.59, Y:-21.02, Z:-4.22 [[ 9.88984567e-01 1.47630015e-01 1.07193284e-02 1.72590044e+02] [-1.47638552e-01 9.89041383e-01 5.10860659e-06 -2.10230573e+01] [-1.06011052e-02 -1.58763846e-03 9.99942546e-01 -4.22243235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.62, Y:-21.03, Z:-4.22 [[ 9.89464548e-01 1.44504567e-01 8.85086016e-03 1.72618601e+02] [-1.44484864e-01 9.89502964e-01 -2.82986130e-03 -2.10268441e+01] [-9.16688025e-03 1.52123210e-03 9.99956826e-01 -4.22347625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:-21.03, Z:-4.22 [[ 9.89737392e-01 1.42625754e-01 8.81984444e-03 1.72646590e+02] [-1.42619960e-01 9.89776689e-01 -1.28571599e-03 -2.10320974e+01] [-8.91305264e-03 1.46353352e-05 9.99960278e-01 -4.22438281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.68, Y:-21.04, Z:-4.23 [[ 9.90002323e-01 1.40778202e-01 8.76915062e-03 1.72675487e+02] [-1.40772405e-01 9.90041159e-01 -1.27789067e-03 -2.10368690e+01] [-8.86171920e-03 3.06603064e-05 9.99960734e-01 -4.22509750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.70, Y:-21.04, Z:-4.23 [[ 9.90343497e-01 1.38397703e-01 8.11378859e-03 1.72702685e+02] [-1.38392661e-01 9.90376733e-01 -1.18225488e-03 -2.10445963e+01] [-8.19932880e-03 4.79496395e-05 9.99966384e-01 -4.22596182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.73, Y:-21.05, Z:-4.23 [[ 9.90407219e-01 1.37933145e-01 8.24547215e-03 1.72731408e+02] [-1.37927929e-01 9.90441540e-01 -1.20072169e-03 -2.10502012e+01] [-8.33227746e-03 5.19225313e-05 9.99965285e-01 -4.22648557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:-21.05, Z:-4.23 [[ 9.90169060e-01 1.39616614e-01 8.51083248e-03 1.72760407e+02] [-1.39611122e-01 9.90205635e-01 -1.23891396e-03 -2.10543735e+01] [-8.60044725e-03 3.85273991e-05 9.99963015e-01 -4.22559854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.79, Y:-21.06, Z:-4.23 [[ 9.89914302e-01 1.41386730e-01 8.91442345e-03 1.72788191e+02] [-1.41380779e-01 9.89954439e-01 -1.29742917e-03 -2.10585042e+01] [-9.00831234e-03 2.40155529e-05 9.99959424e-01 -4.22626464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.82, Y:-21.06, Z:-4.23 [[ 9.89192451e-01 1.46297618e-01 9.76228793e-03 1.72816186e+02] [-1.46290730e-01 9.89240621e-01 -1.41981279e-03 -2.10632641e+01] [-9.86496700e-03 -2.36641329e-05 9.99951340e-01 -4.22658684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.84, Y:-21.07, Z:-4.23 [[ 9.88757299e-01 1.49167215e-01 1.03992887e-02 1.72844610e+02] [-1.49159563e-01 9.88811984e-01 -1.51188960e-03 -2.10670279e+01] [-1.05084657e-02 -5.62614913e-05 9.99944783e-01 -4.22701124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.87, Y:-21.07, Z:-4.23 [[ 9.88305713e-01 1.52084817e-01 1.10465697e-02 1.72872032e+02] [-1.52076371e-01 9.88367442e-01 -1.60551515e-03 -2.10704202e+01] [-1.11622443e-02 -9.31824367e-05 9.99937696e-01 -4.22777350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.90, Y:-21.07, Z:-4.23 [[ 9.87902045e-01 1.54667584e-01 1.12910275e-02 1.72900022e+02] [-1.54658935e-01 9.87966560e-01 -1.64043125e-03 -2.10740636e+01] [-1.14088791e-02 -1.25672891e-04 9.99934909e-01 -4.22833319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.93, Y:-21.08, Z:-4.23 [[ 9.87168060e-01 1.59248879e-01 1.17904840e-02 1.72927654e+02] [-1.59239786e-01 9.87238451e-01 -1.71207402e-03 -2.10753449e+01] [-1.19126650e-02 -1.87409353e-04 9.99929024e-01 -4.22848317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:-21.08, Z:-4.23 [[ 9.86866457e-01 1.61118545e-01 1.16366122e-02 1.72955862e+02] [-1.61109827e-01 9.86935039e-01 -1.68892340e-03 -2.10775457e+01] [-1.17566972e-02 -2.08030721e-04 9.99930866e-01 -4.22916500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:-21.08, Z:-4.23 [[ 9.86443111e-01 1.63748963e-01 1.07826820e-02 1.72984250e+02] [-1.63741641e-01 9.86502016e-01 -1.56435559e-03 -2.10776315e+01] [-1.08932991e-02 -2.22426255e-04 9.99940642e-01 -4.23046782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.01, Y:-21.08, Z:-4.23 [[ 9.86288134e-01 1.64707457e-01 1.03523074e-02 1.73012650e+02] [-1.64700768e-01 9.86342437e-01 -1.50121084e-03 -2.10796722e+01] [-1.04581808e-02 -2.24406548e-04 9.99945287e-01 -4.23120913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.04, Y:-21.08, Z:-4.23 [[ 9.86182129e-01 1.65342543e-01 1.03272639e-02 1.73040937e+02] [-1.65335929e-01 9.86236174e-01 -1.49681915e-03 -2.10816647e+01] [-1.04326091e-02 -2.31331480e-04 9.99945552e-01 -4.23236475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:-21.09, Z:-4.23 [[ 9.86192062e-01 1.65283277e-01 1.03273942e-02 1.73069146e+02] [-1.65276669e-01 9.86246108e-01 -1.49591926e-03 -2.10856186e+01] [-1.04326028e-02 -2.31613609e-04 9.99945552e-01 -4.23303241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:-21.09, Z:-4.23 [[ 9.86133569e-01 1.65614606e-01 1.06012199e-02 1.73097306e+02] [-1.65607668e-01 9.86190521e-01 -1.53506779e-03 -2.10862841e+01] [-1.07090522e-02 -2.41861422e-04 9.99942627e-01 -4.23384525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.12, Y:-21.09, Z:-4.23 [[ 9.86260982e-01 1.64853814e-01 1.06064292e-02 1.73124335e+02] [-1.64846832e-01 9.86317984e-01 -1.53517779e-03 -2.10881163e+01] [-1.07143918e-02 -2.34350304e-04 9.99942572e-01 -4.23437222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.15, Y:-21.09, Z:-4.24 [[ 9.86508359e-01 1.63374768e-01 1.04853631e-02 1.73151213e+02] [-1.63367871e-01 9.86564057e-01 -1.51674627e-03 -2.10893589e+01] [-1.05922805e-02 -2.16688578e-04 9.99943877e-01 -4.23527399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:-21.09, Z:-4.24 [[ 9.87251326e-01 1.58852598e-01 1.00335332e-02 1.73178728e+02] [-1.58846057e-01 9.87302297e-01 -1.45057673e-03 -2.10894357e+01] [-1.01365583e-02 -1.61703397e-04 9.99948611e-01 -4.23609054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:-21.09, Z:-4.24 [[ 9.87715244e-01 1.55967566e-01 9.62885687e-03 1.73206702e+02] [-1.55961414e-01 9.87762169e-01 -1.39120426e-03 -2.10923287e+01] [-9.72800329e-03 -1.27616476e-04 9.99952674e-01 -4.23644241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:-21.09, Z:-4.24 [[ 9.88827330e-01 1.48748228e-01 9.71987912e-03 1.73233905e+02] [-1.48741615e-01 9.88875099e-01 -1.40378635e-03 -2.10936984e+01] [-9.82055716e-03 -5.76482055e-05 9.99951776e-01 -4.23758033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.26, Y:-21.10, Z:-4.24 [[ 9.89399051e-01 1.44866190e-01 1.01638678e-02 1.73262074e+02] [-1.44858765e-01 9.89451255e-01 -1.46681192e-03 -2.10974844e+01] [-1.02691432e-02 -2.10630166e-05 9.99947271e-01 -4.23837648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:-21.10, Z:-4.24 [[ 9.89909438e-01 1.41319698e-01 1.03945884e-02 1.73290142e+02] [-1.41311745e-01 9.89964011e-01 -1.49932728e-03 -2.11019188e+01] [-1.05021529e-02 1.53208014e-05 9.99944851e-01 -4.23878393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:173.32, Y:-21.11, Z:-4.24 [[ 9.90310472e-01 1.38486981e-01 1.03210787e-02 1.73317357e+02] [-1.38478995e-01 9.90364253e-01 -1.48797253e-03 -2.11060625e+01] [-1.04276922e-02 4.43021759e-05 9.99945629e-01 -4.23989810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:-21.11, Z:-4.24 [[ 9.90694282e-01 1.35634284e-01 1.13216788e-02 1.73346022e+02] [-1.35624501e-01 9.90758969e-01 -1.63095044e-03 -2.11105547e+01] [-1.14382676e-02 8.02762385e-05 9.99934578e-01 -4.23910681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:-21.11, Z:-4.24 [[ 9.90789995e-01 1.34906103e-01 1.16417307e-02 1.73373133e+02] [-1.34895715e-01 9.90858383e-01 -1.67658436e-03 -2.11141168e+01] [-1.17614879e-02 9.07234216e-05 9.99930827e-01 -4.23960719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-21.12, Z:-4.24 [[ 9.90930266e-01 1.33940528e-01 1.08233010e-02 1.73400970e+02] [-1.33931498e-01 9.90989367e-01 -1.55813001e-03 -2.11191862e+01] [-1.09344729e-02 9.44172708e-05 9.99940212e-01 -4.24049325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.43, Y:-21.12, Z:-4.24 [[ 9.90982966e-01 1.33530442e-01 1.10626512e-02 1.73429635e+02] [-1.33520992e-01 9.91044707e-01 -1.59177083e-03 -2.11242438e+01] [-1.11761318e-02 1.00321610e-04 9.99937540e-01 -4.24140240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:-21.13, Z:-4.24 [[ 9.90953509e-01 1.33683432e-01 1.18272556e-02 1.73457231e+02] [-1.33672648e-01 9.91024081e-01 -1.70125590e-03 -2.11299355e+01] [-1.19485248e-02 1.04884935e-04 9.99928608e-01 -4.24178254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:-21.13, Z:-4.24 [[ 9.90859913e-01 1.34337645e-01 1.22486370e-02 1.73484501e+02] [-1.34326139e-01 9.90935612e-01 -1.76104158e-03 -2.11345878e+01] [-1.23741848e-02 9.96333933e-05 9.99923432e-01 -4.24211184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-21.14, Z:-4.24 [[ 9.90722073e-01 1.35343948e-01 1.23202757e-02 1.73513129e+02] [-1.35332396e-01 9.90798672e-01 -1.77046606e-03 -2.11396157e+01] [-1.24465346e-02 8.67073811e-05 9.99922535e-01 -4.24253151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:173.54, Y:-21.15, Z:-4.24 [[ 9.90359493e-01 1.37946890e-01 1.25988459e-02 1.73541317e+02] [-1.37935029e-01 9.90439626e-01 -1.80977141e-03 -2.11472086e+01] [-1.27280486e-02 5.45021221e-05 9.99918994e-01 -4.24335173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.57, Y:-21.15, Z:-4.24 [[ 9.90120148e-01 1.39681005e-01 1.23007804e-02 1.73569717e+02] [-1.39669836e-01 9.90196554e-01 -1.76666002e-03 -2.11530372e+01] [-1.24269592e-02 3.11577006e-05 9.99922782e-01 -4.24415803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:-21.16, Z:-4.24 [[ 9.89326508e-01 1.45346634e-01 1.03642153e-02 1.73596553e+02] [-1.45339018e-01 9.89380794e-01 -1.48834633e-03 -2.11588489e+01] [-1.04704817e-02 -3.38643876e-05 9.99945182e-01 -4.24498941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:-21.16, Z:-4.25 [[ 9.88836733e-01 1.48669728e-01 9.96124852e-03 1.73623952e+02] [-1.48662866e-01 9.88886903e-01 -1.42999959e-03 -2.11621382e+01] [-1.00631458e-02 -6.68316335e-05 9.99949363e-01 -4.24592312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.65, Y:-21.16, Z:-4.25 [[ 9.88313201e-01 1.52121278e-01 9.80480272e-03 1.73651687e+02] [-1.52114805e-01 9.88361830e-01 -1.40696460e-03 -2.11648168e+01] [-9.90472201e-03 -1.00933969e-04 9.99950942e-01 -4.24671172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.68, Y:-21.17, Z:-4.25 [[ 9.87826004e-01 1.55289157e-01 9.22303336e-03 1.73679458e+02] [-1.55283573e-01 9.87869051e-01 -1.32290837e-03 -2.11674397e+01] [-9.31658254e-03 -1.25382286e-04 9.99956592e-01 -4.24769106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:-21.17, Z:-4.25 [[ 9.87065239e-01 1.60143754e-01 7.49612225e-03 1.73706150e+02] [-1.60140201e-01 9.87093693e-01 -1.07581829e-03 -2.11701778e+01] [-7.57166057e-03 -1.38527684e-04 9.99971325e-01 -4.24899466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:-21.17, Z:-4.25 [[ 9.86869998e-01 1.61357343e-01 7.17044738e-03 1.73733056e+02] [-1.61354129e-01 9.86896037e-01 -1.02826398e-03 -2.11745397e+01] [-7.24240405e-03 -1.42218423e-04 9.99973763e-01 -4.25008386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:-21.18, Z:-4.25 [[ 9.86850956e-01 1.61492651e-01 6.73158250e-03 1.73760306e+02] [-1.61489833e-01 9.86873905e-01 -9.63771136e-04 -2.11790164e+01] [-6.79886507e-03 -1.35983665e-04 9.99976878e-01 -4.25110001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.79, Y:-21.18, Z:-4.25 [[ 9.87065166e-01 1.60192010e-01 6.39358310e-03 1.73788344e+02] [-1.60189443e-01 9.87085865e-01 -9.14996389e-04 -2.11823028e+01] [-6.45759061e-03 -1.21023450e-04 9.99979142e-01 -4.25169013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.81, Y:-21.19, Z:-4.25 [[ 9.87435914e-01 1.57884011e-01 6.55395748e-03 1.73814740e+02] [-1.57881264e-01 9.87457658e-01 -9.37618966e-04 -2.11851256e+01] [-6.61979055e-03 -1.08908452e-04 9.99978083e-01 -4.25272128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:-21.19, Z:-4.25 [[ 9.88310038e-01 1.52283279e-01 7.28498528e-03 1.73842439e+02] [-1.52279740e-01 9.88336884e-01 -1.04117096e-03 -2.11885071e+01] [-7.35857258e-03 -8.03559611e-05 9.99972922e-01 -4.25281924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.87, Y:-21.19, Z:-4.25 [[ 9.88735870e-01 1.49428496e-01 8.51492119e-03 1.73869559e+02] [-1.49423563e-01 9.88772532e-01 -1.21620950e-03 -2.11926888e+01] [-8.60105654e-03 -6.98198991e-05 9.99963008e-01 -4.25289696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.90, Y:-21.20, Z:-4.25 [[ 9.89104200e-01 1.46916075e-01 9.40997757e-03 1.73897068e+02] [-1.46909948e-01 9.89148959e-01 -1.34287942e-03 -2.11976345e+01] [-9.50516009e-03 -5.41716417e-05 9.99954823e-01 -4.25297610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.92, Y:-21.20, Z:-4.25 [[ 9.89720116e-01 1.42620800e-01 1.06489511e-02 1.73924514e+02] [-1.42612714e-01 9.89777403e-01 -1.51871032e-03 -2.12026151e+01] [-1.07566908e-02 -1.55776596e-05 9.99942145e-01 -4.25256157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:-21.21, Z:-4.25 [[ 9.89945088e-01 1.41024543e-01 1.09909248e-02 1.73951809e+02] [-1.41015843e-01 9.90006100e-01 -1.56645608e-03 -2.12061639e+01] [-1.11019913e-02 8.10982069e-07 9.99938371e-01 -4.25273591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:-21.21, Z:-4.25 [[ 9.90205914e-01 1.39236557e-01 1.02678266e-02 1.73980136e+02] [-1.39228875e-01 9.90259148e-01 -1.46272221e-03 -2.12085546e+01] [-1.03714736e-02 1.88182365e-05 9.99946215e-01 -4.25358368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.01, Y:-21.21, Z:-4.25 [[ 9.90255882e-01 1.38928054e-01 9.60648074e-03 1.74007346e+02] [-1.38921318e-01 9.90302477e-01 -1.36826816e-03 -2.12112290e+01] [-9.70341250e-03 2.03906282e-05 9.99952921e-01 -4.25461778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.04, Y:-21.21, Z:-4.26 [[ 9.90211132e-01 1.39283036e-01 9.06362860e-03 1.74035517e+02] [-1.39277057e-01 9.90252612e-01 -1.29063491e-03 -2.12141176e+01] [-9.15504545e-03 1.56455420e-05 9.99958092e-01 -4.25539663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.06, Y:-21.22, Z:-4.26 [[ 9.90035692e-01 1.40527738e-01 9.01574165e-03 1.74062795e+02] [-1.40521878e-01 9.90076742e-01 -1.28333159e-03 -2.12160528e+01] [-9.10661980e-03 3.63512981e-06 9.99958534e-01 -4.25600102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:-21.22, Z:-4.26 [[ 9.89901511e-01 1.41482356e-01 8.81706021e-03 1.74090718e+02] [-1.41476798e-01 9.89940777e-01 -1.25414685e-03 -2.12194318e+01] [-8.90580709e-03 -5.92757709e-06 9.99960342e-01 -4.25708710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.12, Y:-21.22, Z:-4.26 [[ 9.89778814e-01 1.42368152e-01 8.31923367e-03 1.74117216e+02] [-1.42363234e-01 9.89813775e-01 -1.18337585e-03 -2.12218937e+01] [-8.40296712e-03 -1.30726614e-05 9.99964694e-01 -4.25730166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:-21.22, Z:-4.26 [[ 9.89546921e-01 1.43975987e-01 8.23448804e-03 1.74145249e+02] [-1.43971237e-01 9.89581181e-01 -1.16989096e-03 -2.12205787e+01] [-8.31713061e-03 -2.78674337e-05 9.99965412e-01 -4.25841440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.17, Y:-21.22, Z:-4.26 [[ 9.89502029e-01 1.44276320e-01 8.37121640e-03 1.74171969e+02] [-1.44271425e-01 9.89537439e-01 -1.18886472e-03 -2.12216381e+01] [-8.45515706e-03 -3.13432610e-05 9.99964254e-01 -4.25901295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:-21.22, Z:-4.26 [[ 9.89640155e-01 1.43312459e-01 8.59665619e-03 1.74200435e+02] [-1.43307268e-01 9.89677492e-01 -1.21999362e-03 -2.12223250e+01] [-8.68275742e-03 -2.46086391e-05 9.99962304e-01 -4.26027269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.23, Y:-21.23, Z:-4.26 [[ 9.89913701e-01 1.41395513e-01 8.84160063e-03 1.74227891e+02] [-1.41389952e-01 9.89953185e-01 -1.25407111e-03 -2.12254393e+01] [-8.93009073e-03 -8.69131722e-06 9.99960126e-01 -4.26101565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.25, Y:-21.23, Z:-4.26 [[ 9.90252523e-01 1.38944215e-01 9.71833677e-03 1.74254972e+02] [-1.38937386e-01 9.90300209e-01 -1.37768914e-03 -2.12293533e+01] [-9.81549287e-03 1.40198456e-05 9.99951827e-01 -4.26313066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.28, Y:-21.23, Z:-4.26 [[ 9.91204927e-01 1.31921265e-01 1.04677311e-02 1.74282974e+02] [-1.31912963e-01 9.91260194e-01 -1.48268938e-03 -2.12346799e+01] [-1.05718435e-02 8.88195861e-05 9.99944113e-01 -4.26269747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:-21.24, Z:-4.26 [[ 9.91699869e-01 1.28158389e-01 1.03342795e-02 1.74310854e+02] [-1.28150102e-01 9.91753705e-01 -1.46289925e-03 -2.12391604e+01] [-1.04365428e-02 1.26418022e-04 9.99945530e-01 -4.26299325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:-21.25, Z:-4.26 [[ 9.92558765e-01 1.21263817e-01 1.10537525e-02 1.74339217e+02] [-1.21253918e-01 9.92620291e-01 -1.56381037e-03 -2.12452856e+01] [-1.11618126e-02 2.11862895e-04 9.99937683e-01 -4.26326083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.37, Y:-21.25, Z:-4.26 [[ 9.92886098e-01 1.18487339e-01 1.17450991e-02 1.74366523e+02] [-1.18475975e-01 9.92955530e-01 -1.66109134e-03 -2.12517745e+01] [-1.18591794e-02 2.57762423e-04 9.99929644e-01 -4.26402619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.39, Y:-21.26, Z:-4.26 [[ 9.93141862e-01 1.16359908e-01 1.13847681e-02 1.74394531e+02] [-1.16349101e-01 9.93207077e-01 -1.60928500e-03 -2.12584972e+01] [-1.14946885e-02 2.73640770e-04 9.99933896e-01 -4.26451951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.42, Y:-21.27, Z:-4.27 [[ 9.93315542e-01 1.14926485e-01 1.07767413e-02 1.74421211e+02] [-1.14915545e-01 9.93373926e-01 -1.63100100e-03 -2.12664658e+01] [-1.08927791e-02 3.81683543e-04 9.99940599e-01 -4.26564154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:174.45, Y:-21.27, Z:-4.27 [[ 9.93250467e-01 1.15451346e-01 1.11577754e-02 1.74449801e+02] [-1.15442191e-01 9.93313123e-01 -1.46322585e-03 -2.12729183e+01] [-1.12520961e-02 1.65271716e-04 9.99936680e-01 -4.26662520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.48, Y:-21.28, Z:-4.27 [[ 9.93106958e-01 1.16710670e-01 1.08253668e-02 1.74477916e+02] [-1.16700922e-01 9.93165925e-01 -1.53003212e-03 -2.12792085e+01] [-1.09299565e-02 2.56155261e-04 9.99940233e-01 -4.26638393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:-21.29, Z:-4.27 [[ 9.92581060e-01 1.21150903e-01 1.02615092e-02 1.74504801e+02] [-1.21142384e-01 9.92634082e-01 -1.45005428e-03 -2.12861631e+01] [-1.03615992e-02 1.96192725e-04 9.99946298e-01 -4.26724941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.53, Y:-21.29, Z:-4.27 [[ 9.92256551e-01 1.23792510e-01 1.01168539e-02 1.74532447e+02] [-1.23784373e-01 9.92308111e-01 -1.42902978e-03 -2.12912881e+01] [-1.02159394e-02 1.65655743e-04 9.99947802e-01 -4.26789486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:-21.30, Z:-4.27 [[ 9.91642107e-01 1.28613234e-01 1.02258556e-02 1.74560655e+02] [-1.28605184e-01 9.91694823e-01 -1.44366869e-03 -2.12997942e+01] [-1.03266030e-02 1.16504616e-04 9.99946672e-01 -4.26912692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:-21.31, Z:-4.27 [[ 9.91356523e-01 1.30823995e-01 9.86545878e-03 1.74589123e+02] [-1.30816617e-01 9.91405605e-01 -1.39236299e-03 -2.13054644e+01] [-9.96282563e-03 8.97621942e-05 9.99950366e-01 -4.26981450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:-21.31, Z:-4.27 [[ 9.91125989e-01 1.32590563e-01 9.43488723e-03 1.74616064e+02] [-1.32583897e-01 9.91170892e-01 -1.33134317e-03 -2.13102606e+01] [-9.52810913e-03 6.86147055e-05 9.99954604e-01 -4.27054765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.64, Y:-21.31, Z:-4.27 [[ 9.90904145e-01 1.34274002e-01 8.91452782e-03 1.74643708e+02] [-1.34268122e-01 9.90944242e-01 -1.25750155e-03 -2.13149361e+01] [-9.00264977e-03 4.91265864e-05 9.99959474e-01 -4.27153025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:-21.32, Z:-4.27 [[ 9.90525608e-01 1.37094915e-01 8.00021562e-03 1.74672003e+02] [-1.37090277e-01 9.90557915e-01 -1.12788106e-03 -2.13237172e+01] [-8.07930367e-03 2.04432972e-05 9.99967362e-01 -4.27256155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-21.33, Z:-4.27 [[ 9.90317433e-01 1.38575720e-01 8.25540810e-03 1.74699853e+02] [-1.38570836e-01 9.90351841e-01 -1.16344559e-03 -2.13309262e+01] [-8.33698393e-03 8.22164701e-06 9.99965247e-01 -4.27310044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.73, Y:-21.34, Z:-4.27 [[ 9.89738837e-01 1.42616096e-01 8.81383844e-03 1.74726715e+02] [-1.42610692e-01 9.89778080e-01 -1.24181179e-03 -2.13379769e+01] [-8.90084644e-03 -2.78782416e-05 9.99960386e-01 -4.27240833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-21.34, Z:-4.27 [[ 9.89401304e-01 1.44919107e-01 9.13845789e-03 1.74755199e+02] [-1.44913403e-01 9.89443505e-01 -1.28675790e-03 -2.13425380e+01] [-9.22846361e-03 -5.11650915e-05 9.99957416e-01 -4.27242611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:-21.35, Z:-4.27 [[ 9.89081571e-01 1.47060280e-01 9.53519424e-03 1.74783312e+02] [-1.47054175e-01 9.89127529e-01 -1.34211838e-03 -2.13470670e+01] [-9.62889542e-03 -7.47255650e-05 9.99953638e-01 -4.27302256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-21.35, Z:-4.27 [[ 9.88456536e-01 1.51143426e-01 1.04566581e-02 1.74811326e+02] [-1.51136318e-01 9.88511835e-01 -1.47122038e-03 -2.13523376e+01] [-1.05588955e-02 -1.26143396e-04 9.99944245e-01 -4.27351682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.84, Y:-21.36, Z:-4.27 [[ 9.88461933e-01 1.51108117e-01 1.04567496e-02 1.74840374e+02] [-1.51101014e-01 9.88517233e-01 -1.47056936e-03 -2.13563360e+01] [-1.05588921e-02 -1.26423636e-04 9.99944245e-01 -4.27420403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:-21.36, Z:-4.28 [[ 9.88218687e-01 1.52645677e-01 1.10961526e-02 1.74868512e+02] [-1.52637779e-01 9.88280969e-01 -1.56020232e-03 -2.13610726e+01] [-1.12042746e-02 -1.51871003e-04 9.99937219e-01 -4.27530376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.90, Y:-21.37, Z:-4.28 [[ 9.87867306e-01 1.54897648e-01 1.11760659e-02 1.74895364e+02] [-1.54889785e-01 9.87930507e-01 -1.57101578e-03 -2.13677521e+01] [-1.12845231e-02 -1.79103318e-04 9.99936312e-01 -4.27718222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-21.37, Z:-4.28 [[ 9.87764827e-01 1.55595765e-01 1.05168956e-02 1.74923514e+02] [-1.55588849e-01 9.87820797e-01 -1.47761014e-03 -2.13727751e+01] [-1.06187181e-02 -1.76780364e-04 9.99943604e-01 -4.27865495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-21.38, Z:-4.28 [[ 9.87722016e-01 1.55928616e-01 9.56482050e-03 1.74952120e+02] [-1.55922915e-01 9.87768313e-01 -1.34350481e-03 -2.13770724e+01] [-9.65731745e-03 -1.64365409e-04 9.99953354e-01 -4.27948115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:-21.38, Z:-4.28 [[ 9.87823860e-01 1.55353276e-01 8.32949371e-03 1.74980153e+02] [-1.55348932e-01 9.87858968e-01 -1.16990263e-03 -2.13809185e+01] [-8.41011327e-03 -1.38320218e-04 9.99964625e-01 -4.28073390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:-21.39, Z:-4.28 [[ 9.88023135e-01 1.54038934e-01 9.07148431e-03 1.75008791e+02] [-1.54061830e-01 9.88059425e-01 1.87746639e-03 -2.13867223e+01] [-8.67396265e-03 -3.25254970e-03 9.99957091e-01 -4.28215183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:-21.39, Z:-4.28 [[ 9.88531999e-01 1.50830342e-01 7.39564935e-03 1.75035575e+02] [-1.50802553e-01 9.88555047e-01 -4.18442610e-03 -2.13889051e+01] [-7.94214491e-03 3.02115630e-03 9.99963897e-01 -4.28325275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.06, Y:-21.40, Z:-4.28 [[ 9.88884300e-01 1.48505943e-01 7.33663997e-03 1.75063149e+02] [-1.48502396e-01 9.88911513e-01 -1.02896956e-03 -2.13965030e+01] [-7.40809583e-03 -7.19767689e-05 9.99972557e-01 -4.28402327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:175.09, Y:-21.40, Z:-4.29 [[ 9.89538442e-01 1.44123807e-01 6.48076652e-03 1.75091445e+02] [-1.44120946e-01 9.89559663e-01 -9.08796446e-04 -2.14024534e+01] [-6.54408434e-03 -3.47251818e-05 9.99978587e-01 -4.28554669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-21.41, Z:-4.29 [[ 9.89791292e-01 1.42395186e-01 6.06705002e-03 1.75119296e+02] [-1.42392646e-01 9.89809886e-01 -8.50759561e-04 -2.14070592e+01] [-6.12637016e-03 -2.18289008e-05 9.99981233e-01 -4.28633630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-21.41, Z:-4.29 [[ 9.90067579e-01 1.40469525e-01 5.87380679e-03 1.75147510e+02] [-1.40467113e-01 9.90085003e-01 -8.23101419e-04 -2.14114770e+01] [-5.93118867e-03 -1.01506544e-05 9.99982410e-01 -4.28755276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:-21.42, Z:-4.29 [[ 9.90393613e-01 1.38182011e-01 5.12089624e-03 1.75176079e+02] [-1.38180148e-01 9.90406852e-01 -7.17522102e-04 -2.14159855e+01] [-5.17091937e-03 3.02310632e-06 9.99986631e-01 -4.28731483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:-21.42, Z:-4.29 [[ 9.90468374e-01 1.37651843e-01 4.93661732e-03 1.75203418e+02] [-1.37650105e-01 9.90480676e-01 -6.91721206e-04 -2.14201107e+01] [-4.98484076e-03 5.60208600e-06 9.99987576e-01 -4.28785619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.23, Y:-21.43, Z:-4.29 [[ 9.90529979e-01 1.37196751e-01 5.23571659e-03 1.75231338e+02] [-1.37194793e-01 9.90543816e-01 -7.32986574e-04 -2.14250400e+01] [-5.28677007e-03 7.73212256e-06 9.99986025e-01 -4.28862206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.26, Y:-21.43, Z:-4.29 [[ 9.90670199e-01 1.36106900e-01 6.88972315e-03 1.75258238e+02] [-1.36103487e-01 9.90694156e-01 -9.64034327e-04 -2.14332913e+01] [-6.95682019e-03 1.73247344e-05 9.99975801e-01 -4.28782566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:-21.44, Z:-4.29 [[ 9.90794775e-01 1.35160946e-01 7.56521918e-03 1.75285261e+02] [-1.35156808e-01 9.90823656e-01 -1.05793938e-03 -2.14384015e+01] [-7.63879021e-03 2.57099352e-05 9.99970824e-01 -4.28779798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:-21.44, Z:-4.29 [[ 9.91083811e-01 1.32938248e-01 8.96113294e-03 1.75313833e+02] [-1.32932360e-01 9.91124321e-01 -1.25217181e-03 -2.14432343e+01] [-9.04805833e-03 4.97826658e-05 9.99959064e-01 -4.28758526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:-21.45, Z:-4.29 [[ 9.91238131e-01 1.31753905e-01 9.37427893e-03 1.75340644e+02] [-1.31747411e-01 9.91282454e-01 -1.30962135e-03 -2.14487734e+01] [-9.46510596e-03 6.31096438e-05 9.99955203e-01 -4.28838560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.37, Y:-21.46, Z:-4.29 [[ 9.91422296e-01 1.30323631e-01 9.87832417e-03 1.75368236e+02] [-1.30316357e-01 9.91471505e-01 -1.37925635e-03 -2.14555645e+01] [-9.97382662e-03 8.01182877e-05 9.99950257e-01 -4.28900958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:-21.47, Z:-4.29 [[ 9.91765934e-01 1.27577003e-01 1.11552551e-02 1.75397981e+02] [-1.27567572e-01 9.91828662e-01 -1.55586913e-03 -2.14660373e+01] [-1.12625948e-02 1.20009205e-04 9.99936568e-01 -4.28887581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.43, Y:-21.47, Z:-4.29 [[ 9.91833779e-01 1.27039028e-01 1.12623237e-02 1.75427923e+02] [-1.27029380e-01 9.91897711e-01 -1.57080243e-03 -2.14730499e+01] [-1.13706263e-02 1.27328919e-04 9.99935344e-01 -4.28918455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:-21.48, Z:-4.29 [[ 9.91728526e-01 1.27894044e-01 1.08464317e-02 1.75458309e+02] [-1.27885150e-01 9.91787831e-01 -1.51248932e-03 -2.14836299e+01] [-1.09507973e-02 1.12881265e-04 9.99940032e-01 -4.28961104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:-21.49, Z:-4.29 [[ 9.91532864e-01 1.29425720e-01 1.05623580e-02 1.75487583e+02] [-1.29417374e-01 9.91589116e-01 -1.47267246e-03 -2.14903167e+01] [-1.06641209e-02 9.32505068e-05 9.99943132e-01 -4.29049599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:-21.50, Z:-4.29 [[ 9.91292824e-01 1.31271807e-01 1.03077924e-02 1.75517291e+02] [-1.31327324e-01 9.91326928e-01 4.90471351e-03 -2.14997873e+01] [-9.57454159e-03 -6.21570210e-03 9.99934844e-01 -4.28923363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-21.50, Z:-4.29 [[ 9.90950941e-01 1.34026840e-01 7.28275113e-03 1.75547255e+02] [-1.33973771e-01 9.90957661e-01 -7.34459414e-03 -2.14984070e+01] [-8.20127077e-03 6.30243484e-03 9.99946508e-01 -4.29335044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:-21.51, Z:-4.29 [[ 9.90160792e-01 1.39804120e-01 6.03438974e-03 1.75575652e+02] [-1.39801582e-01 9.90179180e-01 -8.42348857e-04 -2.15103294e+01] [-6.09289093e-03 -9.55642212e-06 9.99981438e-01 -4.29437636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:-21.52, Z:-4.29 [[ 9.89693266e-01 1.43068802e-01 6.20947807e-03 1.75603584e+02] [-1.43066178e-01 9.89712745e-01 -8.67125985e-04 -2.15161924e+01] [-6.26965826e-03 -3.01775439e-05 9.99980345e-01 -4.29454606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.63, Y:-21.52, Z:-4.29 [[ 9.88697450e-01 1.49784593e-01 6.47520481e-03 1.75630567e+02] [-1.49781882e-01 9.88718651e-01 -9.04333894e-04 -2.15215719e+01] [-6.53761104e-03 -7.57557486e-05 9.99978627e-01 -4.29428163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:-21.53, Z:-4.29 [[ 9.88261573e-01 1.52653878e-01 5.98800636e-03 1.75659125e+02] [-1.52651615e-01 9.88279710e-01 -8.35828622e-04 -2.15257652e+01] [-6.04541767e-03 -8.80615345e-05 9.99981722e-01 -4.29457218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:-21.53, Z:-4.30 [[ 9.87477957e-01 1.57668004e-01 5.29944141e-03 1.75686307e+02] [-1.57666303e-01 9.87492172e-01 -7.39882614e-04 -2.15310714e+01] [-5.34981272e-03 -1.04925563e-04 9.99985684e-01 -4.29528567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-21.54, Z:-4.30 [[ 9.87122337e-01 1.59869054e-01 5.60155013e-03 1.75715089e+02] [-1.59867193e-01 9.87138222e-01 -7.81325003e-04 -2.15356842e+01] [-5.65441392e-03 -1.24240733e-04 9.99984006e-01 -4.29582413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-21.54, Z:-4.30 [[ 9.86840761e-01 1.61582089e-01 6.04492623e-03 1.75743580e+02] [-1.61579956e-01 9.86859264e-01 -8.42794121e-04 -2.15394487e+01] [-6.10167189e-03 -1.45035325e-04 9.99981374e-01 -4.29651416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:-21.54, Z:-4.30 [[ 9.86666185e-01 1.62627330e-01 6.49547061e-03 1.75771654e+02] [-1.62624891e-01 9.86687552e-01 -9.05407640e-04 -2.15432116e+01] [-6.55624402e-03 -1.62990100e-04 9.99978494e-01 -4.29699550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:-21.55, Z:-4.30 [[ 9.86689025e-01 1.62500046e-01 6.20508626e-03 1.75799512e+02] [-1.62497821e-01 9.86708524e-01 -8.64438263e-04 -2.15487953e+01] [-6.26308277e-03 -1.55381253e-04 9.99980375e-01 -4.29775621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:-21.55, Z:-4.30 [[ 9.86800831e-01 1.61823552e-01 6.10396878e-03 1.75827692e+02] [-1.61821388e-01 9.86819698e-01 -8.50082059e-04 -2.15534837e+01] [-6.16107992e-03 -1.48891017e-04 9.99981009e-01 -4.29889899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-21.56, Z:-4.30 [[ 9.87071737e-01 1.60197965e-01 5.09875510e-03 1.75856386e+02] [-1.60196433e-01 9.87084899e-01 -7.10032303e-04 -2.15574217e+01] [-5.14664990e-03 -1.15949562e-04 9.99986749e-01 -4.30045598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:-21.56, Z:-4.30 [[ 9.87224873e-01 1.59259420e-01 4.84637883e-03 1.75883805e+02] [-1.59258024e-01 9.87236763e-01 -6.74926505e-04 -2.15609643e+01] [-4.89201175e-03 -1.05520484e-04 9.99988028e-01 -4.30150439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:-21.56, Z:-4.30 [[ 9.87340943e-01 1.58541894e-01 4.72550957e-03 1.75912153e+02] [-1.58540561e-01 9.87352246e-01 -6.57667456e-04 -2.15642286e+01] [-4.77001033e-03 -9.98429333e-05 9.99988618e-01 -4.30188568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-21.57, Z:-4.30 [[ 9.87593683e-01 1.56950521e-01 5.02505985e-03 1.75941229e+02] [-1.56948995e-01 9.87606462e-01 -6.99035488e-04 -2.15677401e+01] [-5.07249557e-03 -9.83150598e-05 9.99987130e-01 -4.30165263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-21.57, Z:-4.30 [[ 9.87711842e-01 1.56195531e-01 5.31728639e-03 1.75969594e+02] [-1.56193814e-01 9.87726149e-01 -7.39129394e-04 -2.15711452e+01] [-5.36747152e-03 -1.00480388e-04 9.99985590e-01 -4.30193846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.00, Y:-21.57, Z:-4.30 [[ 9.87855014e-01 1.55297233e-01 5.02397965e-03 1.75998091e+02] [-1.55295690e-01 9.87867785e-01 -6.98227624e-04 -2.15741568e+01] [-5.07146047e-03 -9.04547263e-05 9.99987136e-01 -4.30199817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:-21.58, Z:-4.30 [[ 9.88186528e-01 1.53122257e-01 6.40009860e-03 1.76026940e+02] [-1.53119710e-01 9.88207248e-01 -8.89003131e-04 -2.15750673e+01] [-6.46074999e-03 -1.01480321e-04 9.99979124e-01 -4.30267237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:-21.58, Z:-4.30 [[ 9.88391125e-01 1.51811675e-01 6.01659487e-03 1.76055512e+02] [-1.51809400e-01 9.88409433e-01 -8.35746203e-04 -2.15781353e+01] [-6.07373516e-03 -8.73315276e-05 9.99981551e-01 -4.30326852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:-21.58, Z:-4.30 [[ 9.88938577e-01 1.48219259e-01 5.61619177e-03 1.76084032e+02] [-1.48217221e-01 9.88954522e-01 -7.79716747e-04 -2.15818315e+01] [-5.66972729e-03 -6.13243673e-05 9.99983925e-01 -4.30409734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174203822 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.11, Y:-21.59, Z:-4.31 [[ 9.89224497e-01 1.46292015e-01 5.79151966e-03 1.76113505e+02] [-1.46289817e-01 9.89241449e-01 -8.03612941e-04 -2.15855842e+01] [-5.84677346e-03 -5.22867428e-05 9.99982906e-01 -4.30555619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:176.14, Y:-21.59, Z:-4.31 [[ 9.89542085e-01 1.44145271e-01 5.34810811e-03 1.76142976e+02] [-1.44143366e-01 9.89556537e-01 -7.42008246e-04 -2.15897431e+01] [-5.39921232e-03 -3.66459170e-05 9.99985423e-01 -4.30617088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:-21.59, Z:-4.31 [[ 9.90080166e-01 1.40446464e-01 4.00701413e-03 1.76171581e+02] [-1.40445364e-01 9.90088274e-01 -5.56217900e-04 -2.15939109e+01] [-4.04541654e-03 -1.20662446e-05 9.99991817e-01 -4.30692488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:-21.60, Z:-4.31 [[ 9.90225663e-01 1.39438205e-01 3.18171610e-03 1.76200261e+02] [-1.39437505e-01 9.90230775e-01 -4.41945944e-04 -2.15980488e+01] [-3.21225735e-03 -6.02433754e-06 9.99994841e-01 -4.30782988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.23, Y:-21.60, Z:-4.31 [[ 9.90287706e-01 1.38997371e-01 3.16081562e-03 1.76227822e+02] [-1.38996678e-01 9.90292750e-01 -4.39131604e-04 -2.16017354e+01] [-3.19117093e-03 -4.47624116e-06 9.99994908e-01 -4.30784052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:-21.60, Z:-4.31 [[ 9.90216297e-01 1.39485163e-01 3.94656676e-03 1.76256812e+02] [-1.39484088e-01 9.90224161e-01 -5.47525337e-04 -2.16038823e+01] [-3.98435742e-03 -8.31475440e-06 9.99992062e-01 -4.30749826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.29, Y:-21.61, Z:-4.31 [[ 9.90066493e-01 1.40541999e-01 4.03559420e-03 1.76285769e+02] [-1.40540885e-01 9.90074718e-01 -5.59660683e-04 -2.16063369e+01] [-4.07419562e-03 -1.30646929e-05 9.99991700e-01 -4.30769000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.31, Y:-21.61, Z:-4.31 [[ 9.89791427e-01 1.42455318e-01 4.40599776e-03 1.76313654e+02] [-1.42454010e-01 9.89801234e-01 -6.10932543e-04 -2.16081370e+01] [-4.44809261e-03 -2.29562529e-05 9.99990107e-01 -4.30891502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:-21.61, Z:-4.31 [[ 9.89683848e-01 1.43205902e-01 4.23685653e-03 1.76342495e+02] [-1.43204701e-01 9.89692917e-01 -5.86999335e-04 -2.16119531e+01] [-4.27724866e-03 -2.57940120e-05 9.99990852e-01 -4.30930703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.37, Y:-21.62, Z:-4.31 [[ 9.89603810e-01 1.43754535e-01 4.35113353e-03 1.76370894e+02] [-1.43753275e-01 9.89613375e-01 -6.02591272e-04 -2.16161329e+01] [-4.39256517e-03 -2.91630765e-05 9.99990352e-01 -4.30978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:176.40, Y:-21.62, Z:-4.31 [[ 9.89556880e-01 1.44071286e-01 4.54376979e-03 1.76398166e+02] [-1.44069916e-01 9.89567311e-01 -6.29218701e-04 -2.16192301e+01] [-4.58701840e-03 -3.19728355e-05 9.99989479e-01 -4.31025380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:-21.62, Z:-4.31 [[ 9.89621191e-01 1.43625535e-01 4.64811033e-03 1.76427111e+02] [-1.43624099e-01 9.89632106e-01 -6.43147540e-04 -2.16228238e+01] [-4.69229163e-03 -3.11082221e-05 9.99988991e-01 -4.30997827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.46, Y:-21.63, Z:-4.31 [[ 9.90019390e-01 1.40789459e-01 6.31953675e-03 1.76455869e+02] [-1.40786753e-01 9.90039559e-01 -8.73325055e-04 -2.16255821e+01] [-6.37954634e-03 -2.50983218e-05 9.99979650e-01 -4.31040669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:-21.63, Z:-4.31 [[ 9.90259563e-01 1.39085919e-01 6.41128557e-03 1.76485208e+02] [-1.39083099e-01 9.90280317e-01 -8.85826669e-04 -2.16306736e+01] [-6.47217592e-03 -1.45031333e-05 9.99979055e-01 -4.31097024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:-21.64, Z:-4.31 [[ 9.90489190e-01 1.37433414e-01 6.57425331e-03 1.76513483e+02] [-1.37430412e-01 9.90511008e-01 -9.08369609e-04 -2.16366094e+01] [-6.63671061e-03 -3.77206519e-06 9.99977977e-01 -4.31196360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.54, Y:-21.64, Z:-4.31 [[ 9.90806631e-01 1.35140930e-01 6.25692372e-03 1.76542054e+02] [-1.35138168e-01 9.90826387e-01 -8.64104624e-04 -2.16439952e+01] [-6.31630102e-03 1.06113840e-05 9.99980052e-01 -4.31199650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.57, Y:-21.65, Z:-4.31 [[ 9.90904232e-01 1.34450585e-01 5.64300115e-03 1.76572468e+02] [-1.34448330e-01 9.90920300e-01 -7.78819369e-04 -2.16490345e+01] [-5.69647711e-03 1.30433270e-05 9.99983775e-01 -4.31222005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:-21.66, Z:-4.31 [[ 9.90946596e-01 1.34144343e-01 5.48994173e-03 1.76602426e+02] [-1.34142203e-01 9.90961803e-01 -7.57694858e-04 -2.16550131e+01] [-5.54196303e-03 1.44022598e-05 9.99984643e-01 -4.31282853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.63, Y:-21.66, Z:-4.31 [[ 9.90948223e-01 1.34132324e-01 5.48991207e-03 1.76632306e+02] [-1.34130184e-01 9.90963430e-01 -7.57909768e-04 -2.16590974e+01] [-5.54196229e-03 1.46864221e-05 9.99984643e-01 -4.31353516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.66, Y:-21.67, Z:-4.31 [[ 9.90984191e-01 1.33891765e-01 4.82991544e-03 1.76661107e+02] [-1.33890106e-01 9.90995961e-01 -6.66767563e-04 -2.16663981e+01] [-4.87570138e-03 1.40782256e-05 9.99988114e-01 -4.31394896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.69, Y:-21.67, Z:-4.31 [[ 9.90948757e-01 1.34168639e-01 4.39753123e-03 1.76691394e+02] [-1.34167267e-01 9.90958514e-01 -6.06817230e-04 -2.16715975e+01] [-4.43918685e-03 1.13200336e-05 9.99990147e-01 -4.31447136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:-21.68, Z:-4.32 [[ 9.90825146e-01 1.35091887e-01 3.96376425e-03 1.76720714e+02] [-1.35090779e-01 9.90833075e-01 -5.47195984e-04 -2.16777396e+01] [-4.00135045e-03 6.70754150e-06 9.99991995e-01 -4.31513040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:-21.68, Z:-4.32 [[ 9.90739188e-01 1.35705479e-01 4.45926355e-03 1.76749769e+02] [-1.35704082e-01 9.90749223e-01 -6.15741376e-04 -2.16832889e+01] [-4.50157137e-03 4.89884585e-06 9.99989868e-01 -4.31529335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.78, Y:-21.69, Z:-4.32 [[ 9.90637314e-01 1.36412554e-01 5.41539818e-03 1.76779575e+02] [-1.36410508e-01 9.90652116e-01 -7.47074203e-04 -2.16892312e+01] [-5.46668597e-03 1.36236367e-06 9.99985058e-01 -4.31578613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-21.70, Z:-4.32 [[ 9.90448241e-01 1.37712360e-01 6.89837837e-03 1.76807911e+02] [-1.37709073e-01 9.90472264e-01 -9.51471485e-04 -2.16974892e+01] [-6.96368182e-03 -7.58603411e-06 9.99975753e-01 -4.31597942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:-21.70, Z:-4.32 [[ 9.90360199e-01 1.38332668e-01 7.12378484e-03 1.76838260e+02] [-1.38329177e-01 9.90385820e-01 -9.82833436e-04 -2.17041406e+01] [-7.19125347e-03 -1.20681784e-05 9.99974143e-01 -4.31665354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-21.71, Z:-4.32 [[ 9.90096319e-01 1.40220467e-01 6.89200255e-03 1.76867823e+02] [-1.40217245e-01 9.90120306e-01 -9.50855577e-04 -2.17113728e+01] [-6.95724109e-03 -2.49390070e-05 9.99975798e-01 -4.31711307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:-21.72, Z:-4.32 [[ 9.89899095e-01 1.41626798e-01 6.45234135e-03 1.76897978e+02] [-1.41624004e-01 9.89920123e-01 -8.90197690e-04 -2.17170814e+01] [-6.51337839e-03 -3.26005302e-05 9.99978787e-01 -4.31761783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:-21.73, Z:-4.32 [[ 9.89609534e-01 1.43577563e-01 7.64548791e-03 1.76926892e+02] [-1.43602360e-01 9.89631517e-01 2.79686576e-03 -2.17253428e+01] [-7.16464863e-03 -3.86571513e-03 9.99966861e-01 -4.31901929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.96, Y:-21.73, Z:-4.32 [[ 9.89399839e-01 1.45111913e-01 5.52183132e-03 1.76958850e+02] [-1.45087128e-01 9.89407938e-01 -4.65387260e-03 -2.17267786e+01] [-6.13867610e-03 3.80339416e-03 9.99973925e-01 -4.31969492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:-21.73, Z:-4.32 [[ 9.88925154e-01 1.48321575e-01 5.26775947e-03 1.76988660e+02] [-1.48319805e-01 9.88939182e-01 -7.27342961e-04 -2.17349776e+01] [-5.31737440e-03 -6.20253076e-05 9.99985861e-01 -4.32019642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.02, Y:-21.74, Z:-4.32 [[ 9.88712056e-01 1.49752936e-01 4.74647500e-03 1.77018811e+02] [-1.49751515e-01 9.88723447e-01 -6.55366897e-04 -2.17402693e+01] [-4.79109424e-03 -6.28226709e-05 9.99988521e-01 -4.32103293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:-21.75, Z:-4.32 [[ 9.88376649e-01 1.51914997e-01 5.78225298e-03 1.77047299e+02] [-1.51912924e-01 9.88393558e-01 -7.98596799e-04 -2.17475692e+01] [-5.83646042e-03 -8.90845285e-05 9.99982964e-01 -4.32131732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.08, Y:-21.75, Z:-4.32 [[ 9.88263592e-01 1.52650782e-01 5.72818789e-03 1.77077031e+02] [-1.52648762e-01 9.88280188e-01 -7.90845290e-04 -2.17529061e+01] [-5.78177776e-03 -9.28371810e-05 9.99983281e-01 -4.32177777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.11, Y:-21.76, Z:-4.32 [[ 9.88168977e-01 1.53295673e-01 4.74440803e-03 1.77107258e+02] [-1.53294296e-01 9.88180363e-01 -6.54796594e-04 -2.17570997e+01] [-4.78870834e-03 -8.02410087e-05 9.99988531e-01 -4.32383037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:-21.76, Z:-4.33 [[ 9.88137638e-01 1.53513217e-01 4.20721050e-03 1.77136062e+02] [-1.53512134e-01 9.88146592e-01 -5.81135294e-04 -2.17619999e+01] [-4.24655267e-03 -7.16162044e-05 9.99990981e-01 -4.32530847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:-21.77, Z:-4.33 [[ 9.88116205e-01 1.53661665e-01 3.80236715e-03 1.77165791e+02] [-1.53660783e-01 9.88123519e-01 -5.24963576e-04 -2.17677934e+01] [-3.83787519e-03 -6.55496958e-05 9.99992633e-01 -4.32631071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:-21.77, Z:-4.33 [[ 9.88085804e-01 1.53858915e-01 3.72529369e-03 1.77195633e+02] [-1.53858070e-01 9.88092825e-01 -5.14322637e-04 -2.17736978e+01] [-3.76006909e-03 -6.49716000e-05 9.99992929e-01 -4.32727527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.22, Y:-21.78, Z:-4.33 [[ 9.87949393e-01 1.54717862e-01 4.28711996e-03 1.77224231e+02] [-1.54716751e-01 9.87958692e-01 -5.91667750e-04 -2.17798215e+01] [-4.32703900e-03 -7.87514783e-05 9.99990635e-01 -4.32785906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:-21.78, Z:-4.33 [[ 9.87898668e-01 1.55048204e-01 4.03430367e-03 1.77253987e+02] [-1.55047221e-01 9.87906903e-01 -5.57032739e-04 -2.17843638e+01] [-4.07188337e-03 -7.52156718e-05 9.99991707e-01 -4.32852604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.28, Y:-21.79, Z:-4.33 [[ 9.87847361e-01 1.55384033e-01 3.65981631e-03 1.77284234e+02] [-1.55383227e-01 9.87854138e-01 -5.05083725e-04 -2.17899031e+01] [-3.69384663e-03 -6.97284458e-05 9.99993175e-01 -4.32953372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-21.79, Z:-4.33 [[ 9.87865256e-01 1.55257148e-01 4.17772710e-03 1.77314254e+02] [-1.55256096e-01 9.87874087e-01 -5.76887685e-04 -2.17943459e+01] [-4.21663428e-03 -7.87302990e-05 9.99991107e-01 -4.33022555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.35, Y:-21.80, Z:-4.33 [[ 9.87954623e-01 1.54663490e-01 4.98684107e-03 1.77345100e+02] [-1.54661986e-01 9.87967204e-01 -6.88171537e-04 -2.17983456e+01] [-5.03327044e-03 -9.13924920e-05 9.99987329e-01 -4.33089569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:-21.80, Z:-4.33 [[ 9.88312141e-01 1.52337568e-01 5.69014669e-03 1.77374957e+02] [-1.52335569e-01 9.88328517e-01 -7.85658813e-04 -2.18037984e+01] [-5.74341959e-03 -9.03355878e-05 9.99983502e-01 -4.33163728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:-21.81, Z:-4.33 [[ 9.88605803e-01 1.50420423e-01 5.68003236e-03 1.77405416e+02] [-1.50418400e-01 9.88622117e-01 -7.84120855e-04 -2.18097125e+01] [-5.73335340e-03 -7.91949509e-05 9.99983561e-01 -4.33244987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:-21.82, Z:-4.33 [[ 9.89245997e-01 1.46175909e-01 4.99617910e-03 1.77435948e+02] [-1.46174304e-01 9.89258612e-01 -6.86924353e-04 -2.18199183e+01] [-5.04292499e-03 -5.07758362e-05 9.99987283e-01 -4.33377479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.47, Y:-21.83, Z:-4.33 [[ 9.89514758e-01 1.44357497e-01 4.63210794e-03 1.77468736e+02] [-1.44356096e-01 9.89525599e-01 -6.37124250e-04 -2.18270508e+01] [-4.67556305e-03 -3.82291700e-05 9.99989069e-01 -4.33443684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-21.83, Z:-4.34 [[ 9.89719271e-01 1.42947452e-01 4.66803710e-03 1.77501165e+02] [-1.42946009e-01 9.89730279e-01 -6.42945981e-04 -2.18334709e+01] [-4.71200515e-03 -3.09412469e-05 9.99988898e-01 -4.33526496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-21.84, Z:-4.34 [[ 9.89822935e-01 1.42208013e-01 5.23820913e-03 1.77533034e+02] [-1.42206176e-01 9.89836795e-01 -7.23331322e-04 -2.18398200e+01] [-5.28783564e-03 -2.89357576e-05 9.99986019e-01 -4.33509046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.57, Y:-21.84, Z:-4.34 [[ 9.89665705e-01 1.43282970e-01 5.63756090e-03 1.77565747e+02] [-1.43280854e-01 9.89681762e-01 -7.79657208e-04 -2.18447519e+01] [-5.69110280e-03 -3.61545384e-05 9.99983805e-01 -4.33575468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:-21.85, Z:-4.34 [[ 9.89190895e-01 1.46489633e-01 6.49312763e-03 1.77597623e+02] [-1.46486880e-01 9.89212204e-01 -9.00178419e-04 -2.18502779e+01] [-6.55494790e-03 -6.07097108e-05 9.99978514e-01 -4.33549668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:-21.86, Z:-4.34 [[ 9.88945047e-01 1.48113233e-01 7.08269698e-03 1.77628998e+02] [-1.48109987e-01 9.88970406e-01 -9.83641868e-04 -2.18566936e+01] [-7.15026809e-03 -7.62504004e-05 9.99974434e-01 -4.33604426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-21.86, Z:-4.34 [[ 9.88741163e-01 1.49448290e-01 7.49139147e-03 1.77661278e+02] [-1.49444686e-01 9.88769539e-01 -1.04180282e-03 -2.18639391e+01] [-7.56295534e-03 -8.94753159e-05 9.99971396e-01 -4.33658725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:-21.87, Z:-4.34 [[ 9.88629959e-01 1.50159268e-01 7.93717162e-03 1.77693044e+02] [-1.50155229e-01 9.88661815e-01 -1.10581799e-03 -2.18707262e+01] [-8.01322732e-03 -9.85630264e-05 9.99967889e-01 -4.33771949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.73, Y:-21.88, Z:-4.34 [[ 9.88698122e-01 1.49708262e-01 7.96616179e-03 1.77725320e+02] [-1.49704168e-01 9.88730210e-01 -1.11116065e-03 -2.18770995e+01] [-8.04273474e-03 -9.39651754e-05 9.99967652e-01 -4.33782654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.76, Y:-21.88, Z:-4.34 [[ 9.88768535e-01 1.49221793e-01 8.34511891e-03 1.77757980e+02] [-1.49217267e-01 9.88803746e-01 -1.16584344e-03 -2.18822857e+01] [-8.42565409e-03 -9.24865218e-05 9.99964499e-01 -4.33850795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:-21.89, Z:-4.34 [[ 9.88993116e-01 1.47722710e-01 8.40335440e-03 1.77789854e+02] [-1.47718053e-01 9.89028814e-01 -1.17561545e-03 -2.18904142e+01] [-8.48482473e-03 -7.86515671e-05 9.99964000e-01 -4.33990141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.82, Y:-21.90, Z:-4.34 [[ 9.89121704e-01 1.46876520e-01 8.09588472e-03 1.77822088e+02] [-1.46872157e-01 9.89154833e-01 -1.13397132e-03 -2.18974542e+01] [-8.17463726e-03 -6.74244142e-05 9.99966585e-01 -4.34041501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-21.90, Z:-4.34 [[ 9.89215354e-01 1.46219297e-01 8.53814720e-03 1.77854292e+02] [-1.46214406e-01 9.89252199e-01 -1.19761578e-03 -2.19040929e+01] [-8.62149543e-03 -6.37002004e-05 9.99962832e-01 -4.34109507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.89, Y:-21.91, Z:-4.34 [[ 9.89394711e-01 1.44919709e-01 9.81757171e-03 1.77885818e+02] [-1.44913151e-01 9.89443417e-01 -1.37991057e-03 -2.19116753e+01] [-9.91390793e-03 -5.74190254e-05 9.99950854e-01 -4.34111801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.92, Y:-21.92, Z:-4.34 [[ 9.89469339e-01 1.44393324e-01 1.00496543e-02 1.77918299e+02] [-1.44386406e-01 9.89520371e-01 -1.41434040e-03 -2.19176977e+01] [-1.01485590e-02 -5.15870081e-05 9.99948501e-01 -4.34169765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:-21.92, Z:-4.34 [[ 9.89634892e-01 1.43284726e-01 9.60564603e-03 1.77950717e+02] [-1.43278337e-01 9.89681507e-01 -1.35349808e-03 -2.19242832e+01] [-9.70046584e-03 -3.68120662e-05 9.99952949e-01 -4.34295254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.98, Y:-21.93, Z:-4.34 [[ 9.89702329e-01 1.42842845e-01 9.23153194e-03 1.77981971e+02] [-1.42836908e-01 9.89745382e-01 -1.30268731e-03 -2.19303931e+01] [-9.32294567e-03 -2.93308102e-05 9.99956540e-01 -4.34435545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:-21.94, Z:-4.35 [[ 9.89770738e-01 1.42401709e-01 8.69715145e-03 1.78014372e+02] [-1.42396411e-01 9.89808948e-01 -1.22851925e-03 -2.19369605e+01] [-8.78346156e-03 -2.24907494e-05 9.99961424e-01 -4.34503730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.05, Y:-21.94, Z:-4.35 [[ 9.89817261e-01 1.42105193e-01 8.24038902e-03 1.78045662e+02] [-1.42100406e-01 9.89851561e-01 -1.16658017e-03 -2.19432844e+01] [-8.32253904e-03 -1.62614370e-05 9.99965367e-01 -4.34609157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:-21.95, Z:-4.35 [[ 9.89820775e-01 1.42134693e-01 7.24994420e-03 1.78076900e+02] [-1.42130991e-01 9.89847326e-01 -1.02597436e-03 -2.19512894e+01] [-7.32216443e-03 -1.49110155e-05 9.99973192e-01 -4.34837541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.11, Y:-21.96, Z:-4.35 [[ 9.89638520e-01 1.43435195e-01 6.47644334e-03 1.78109304e+02] [-1.43432264e-01 9.89659711e-01 -9.17113916e-04 -2.19606897e+01] [-6.54102146e-03 -2.13196738e-05 9.99978607e-01 -4.34947618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:-21.97, Z:-4.35 [[ 9.89420932e-01 1.44908874e-01 6.90201702e-03 1.78140705e+02] [-1.44905562e-01 9.89445005e-01 -9.80229895e-04 -2.19666046e+01] [-6.97121027e-03 -3.02806798e-05 9.99975700e-01 -4.35019100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.17, Y:-21.97, Z:-4.35 [[ 9.89154401e-01 1.46694456e-01 7.36931542e-03 1.78173356e+02] [-1.46690730e-01 9.89181851e-01 -1.04648903e-03 -2.19715987e+01] [-7.44310721e-03 -4.58710295e-05 9.99972299e-01 -4.35110048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:-21.98, Z:-4.35 [[ 9.88837485e-01 1.48814998e-01 7.38404302e-03 1.78204584e+02] [-1.48811297e-01 9.88865053e-01 -1.05121416e-03 -2.19762348e+01] [-7.45825853e-03 -5.93490568e-05 9.99972185e-01 -4.35186461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:-21.98, Z:-4.35 [[ 9.88143369e-01 1.53413868e-01 6.07181033e-03 1.78237100e+02] [-1.53411458e-01 9.88162021e-01 -8.63428381e-04 -2.19815293e+01] [-6.13239425e-03 -7.82942489e-05 9.99981194e-01 -4.35345719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.27, Y:-21.99, Z:-4.35 [[ 9.87744706e-01 1.55952363e-01 6.26552452e-03 1.78270028e+02] [-1.55949839e-01 9.87764573e-01 -8.92323343e-04 -2.19865929e+01] [-6.32802308e-03 -9.57198843e-05 9.99979973e-01 -4.35480200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:-21.99, Z:-4.36 [[ 9.86995678e-01 1.60593685e-01 7.01423930e-03 1.78301102e+02] [-1.60590624e-01 9.87020592e-01 -1.00106465e-03 -2.19925026e+01] [-7.08396329e-03 -1.38374585e-04 9.99974899e-01 -4.35568550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.33, Y:-22.00, Z:-4.36 [[ 9.86666286e-01 1.62598904e-01 7.15789636e-03 1.78333713e+02] [-1.62595762e-01 9.86692238e-01 -1.02269863e-03 -2.19978718e+01] [-7.22893046e-03 -1.54781355e-04 9.99973859e-01 -4.35629127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-22.00, Z:-4.36 [[ 9.86115833e-01 1.65864681e-01 8.02939345e-03 1.78365943e+02] [-1.65860816e-01 9.86148502e-01 -1.14953747e-03 -2.20013840e+01] [-8.10884199e-03 -1.98184645e-04 9.99967103e-01 -4.35665007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-22.00, Z:-4.36 [[ 9.85835860e-01 1.67509035e-01 8.26928557e-03 1.78397463e+02] [-1.67504979e-01 9.85870517e-01 -1.18557674e-03 -2.20047215e+01] [-8.35103966e-03 -2.16362443e-04 9.99965106e-01 -4.35712453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.43, Y:-22.01, Z:-4.36 [[ 9.85564282e-01 1.69090841e-01 8.44591371e-03 1.78430417e+02] [-1.69086656e-01 9.85600443e-01 -1.21231399e-03 -2.20086319e+01] [-8.52928749e-03 -2.33277940e-04 9.99963598e-01 -4.35827125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.46, Y:-22.01, Z:-4.36 [[ 9.85065284e-01 1.71946166e-01 8.99461752e-03 1.78463060e+02] [-1.71941520e-01 9.85106310e-01 -1.29309038e-03 -2.20118858e+01] [-9.08299641e-03 -2.72769767e-04 9.99958712e-01 -4.35955802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.50, Y:-22.02, Z:-4.36 [[ 9.84744041e-01 1.73779938e-01 8.92785032e-03 1.78495942e+02] [-1.73775421e-01 9.84784470e-01 -1.28511020e-03 -2.20155567e+01] [-9.01533471e-03 -2.85936335e-04 9.99959320e-01 -4.36032164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:-22.02, Z:-4.36 [[ 9.84402938e-01 1.75698677e-01 8.99052585e-03 1.78527459e+02] [-1.75694151e-01 9.84443946e-01 -1.29695979e-03 -2.20185917e+01] [-9.07854286e-03 -3.02851783e-04 9.99958743e-01 -4.36118012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:-22.02, Z:-4.36 [[ 9.83882555e-01 1.78573349e-01 9.31005155e-03 1.78560357e+02] [-1.78568622e-01 9.83926543e-01 -1.34331077e-03 -2.20187356e+01] [-9.40028634e-03 -3.40823046e-04 9.99955758e-01 -4.36165618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-22.02, Z:-4.36 [[ 9.83727498e-01 1.79401318e-01 9.76608137e-03 1.78592782e+02] [-1.79396135e-01 9.83775907e-01 -1.41138537e-03 -2.20204736e+01] [-9.86083995e-03 -3.63578651e-04 9.99951315e-01 -4.36263594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.63, Y:-22.03, Z:-4.36 [[ 9.83712961e-01 1.79481039e-01 9.76564889e-03 1.78625905e+02] [-1.79475830e-01 9.83761366e-01 -1.41436943e-03 -2.20254121e+01] [-9.86092059e-03 -3.61364397e-04 9.99951315e-01 -4.36341924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:-22.03, Z:-4.36 [[ 9.83657984e-01 1.79777307e-01 9.85346325e-03 1.78659298e+02] [-1.79772025e-01 9.83707265e-01 -1.42650321e-03 -2.20270588e+01] [-9.94937629e-03 -3.68185774e-04 9.99950436e-01 -4.36437465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:-22.03, Z:-4.37 [[ 9.84029127e-01 1.77762714e-01 9.33247037e-03 1.78692580e+02] [-1.77757871e-01 9.84073325e-01 -1.35261001e-03 -2.20263177e+01] [-9.42427878e-03 -3.27912415e-04 9.99955537e-01 -4.36590083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:-22.03, Z:-4.37 [[ 9.84424872e-01 1.75556746e-01 9.35412082e-03 1.78724301e+02] [-1.75551754e-01 9.84469266e-01 -1.35851438e-03 -2.20288746e+01] [-9.44734083e-03 -3.04776968e-04 9.99955326e-01 -4.36705655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.76, Y:-22.03, Z:-4.37 [[ 9.85408106e-01 1.69938391e-01 9.58163639e-03 1.78757560e+02] [-1.69932886e-01 9.85454655e-01 -1.39177741e-03 -2.20290282e+01] [-9.67878460e-03 -2.56766380e-04 9.99953127e-01 -4.36810351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.79, Y:-22.03, Z:-4.37 [[ 9.85996063e-01 1.66487421e-01 9.67994932e-03 1.78790493e+02] [-1.66481618e-01 9.86043553e-01 -1.40789674e-03 -2.20314189e+01] [-9.77924872e-03 -2.23352981e-04 9.99952157e-01 -4.36921408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.82, Y:-22.03, Z:-4.37 [[ 9.86605017e-01 1.62866815e-01 9.21633742e-03 1.78823229e+02] [-1.62861382e-01 9.86648047e-01 -1.34198700e-03 -2.20340537e+01] [-9.31184647e-03 -1.76974343e-04 9.99956628e-01 -4.36994208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.85, Y:-22.03, Z:-4.37 [[ 9.87737681e-01 1.55904799e-01 8.24419935e-03 1.78854925e+02] [-1.55900200e-01 9.87772081e-01 -1.20160520e-03 -2.20349050e+01] [-8.33072597e-03 -9.84015925e-05 9.99965294e-01 -4.37126183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:178.89, Y:-22.04, Z:-4.37 [[ 9.88173182e-01 1.53138907e-01 7.88913853e-03 1.78887843e+02] [-1.53134595e-01 9.88204670e-01 -1.15131330e-03 -2.20384074e+01] [-7.97239440e-03 -7.04031094e-05 9.99968217e-01 -4.37199468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:178.92, Y:-22.04, Z:-4.37 [[ 9.88737838e-01 1.49434371e-01 8.17659429e-03 1.78920364e+02] [-1.49429600e-01 9.88771646e-01 -1.19484074e-03 -2.20409346e+01] [-8.26333486e-03 -4.04409629e-05 9.99965857e-01 -4.37137422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:-22.05, Z:-4.37 [[ 9.88869438e-01 1.48547439e-01 8.41980898e-03 1.78951800e+02] [-1.48542330e-01 9.88905282e-01 -1.23242012e-03 -2.20451163e+01] [-8.50946643e-03 -3.19954550e-05 9.99963793e-01 -4.37217650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.98, Y:-22.05, Z:-4.37 [[ 9.88950957e-01 1.48018608e-01 8.15459434e-03 1.78983278e+02] [-1.48013778e-01 9.88984576e-01 -1.19597597e-03 -2.20490472e+01] [-8.24179473e-03 -2.42307340e-05 9.99966036e-01 -4.37313538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.02, Y:-22.05, Z:-4.37 [[ 9.88959987e-01 1.47960080e-01 8.12155170e-03 1.79016408e+02] [-1.47955287e-01 9.88993334e-01 -1.19112386e-03 -2.20508455e+01] [-8.20839927e-03 -2.36526801e-05 9.99966310e-01 -4.37344303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-22.05, Z:-4.37 [[ 9.88892596e-01 1.48410739e-01 8.10469127e-03 1.79047987e+02] [-1.48405967e-01 9.88925807e-01 -1.19040117e-03 -2.20545359e+01] [-8.19160667e-03 -2.56056401e-05 9.99966448e-01 -4.37439841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:-22.06, Z:-4.37 [[ 9.88751667e-01 1.49338180e-01 8.26127046e-03 1.79080526e+02] [-1.49333244e-01 9.88786179e-01 -1.21469868e-03 -2.20604596e+01] [-8.35003094e-03 -3.26469659e-05 9.99965137e-01 -4.37495398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.11, Y:-22.07, Z:-4.38 [[ 9.88603163e-01 1.50308958e-01 8.42633726e-03 1.79113110e+02] [-1.50303843e-01 9.88639072e-01 -1.24072693e-03 -2.20660038e+01] [-8.51709862e-03 -3.99243027e-05 9.99963728e-01 -4.37546784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.15, Y:-22.07, Z:-4.38 [[ 9.88398695e-01 1.51669737e-01 8.01932721e-03 1.79145313e+02] [-1.51665138e-01 9.88431226e-01 -1.18217649e-03 -2.20706701e+01] [-8.10585382e-03 -4.77906646e-05 9.99967146e-01 -4.37538287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.18, Y:-22.07, Z:-4.38 [[ 9.87914583e-01 1.54795304e-01 7.94929768e-03 1.79177355e+02] [-1.54790870e-01 9.87946562e-01 -1.17377239e-03 -2.20734351e+01] [-8.03517577e-03 -7.08918411e-05 9.99967715e-01 -4.37669773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.21, Y:-22.08, Z:-4.38 [[ 9.87576608e-01 1.56925987e-01 8.16565051e-03 1.79209109e+02] [-1.56921368e-01 9.87610362e-01 -1.20726679e-03 -2.20774083e+01] [-8.25393258e-03 -8.90966124e-05 9.99965932e-01 -4.37729219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.24, Y:-22.08, Z:-4.38 [[ 9.86851186e-01 1.61443364e-01 7.79589586e-03 1.79239695e+02] [-1.61439284e-01 9.86881972e-01 -1.15399175e-03 -2.20805108e+01] [-7.87993339e-03 -1.19745722e-04 9.99968946e-01 -4.37734326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:-22.08, Z:-4.38 [[ 9.86471051e-01 1.63775807e-01 7.23537574e-03 1.79270644e+02] [-1.63772333e-01 9.86497577e-01 -1.07410370e-03 -2.20846381e+01] [-7.31359283e-03 -1.25382156e-04 9.99973247e-01 -4.37808949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:-22.09, Z:-4.38 [[ 9.86142150e-01 1.65763385e-01 6.79407983e-03 1.79300751e+02] [-1.65760371e-01 9.86165545e-01 -1.00819180e-03 -2.20881371e+01] [-6.86720872e-03 -1.31968762e-04 9.99976412e-01 -4.37930902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.33, Y:-22.09, Z:-4.38 [[ 9.85861193e-01 1.67440640e-01 6.42960571e-03 1.79331546e+02] [-1.67437968e-01 9.85882150e-01 -9.55375158e-04 -2.20914418e+01] [-6.49880213e-03 -1.34692824e-04 9.99978873e-01 -4.38034260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.36, Y:-22.09, Z:-4.38 [[ 9.85390685e-01 1.70219660e-01 5.51952781e-03 1.79360933e+02] [-1.70217733e-01 9.85406135e-01 -8.20567788e-04 -2.20941315e+01] [-5.57865333e-03 -1.30941653e-04 9.99984431e-01 -4.38092337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:-22.10, Z:-4.38 [[ 9.85211559e-01 1.71267450e-01 5.06403156e-03 1.79390137e+02] [-1.71265843e-01 9.85224566e-01 -7.52558311e-04 -2.20976704e+01] [-5.11809704e-03 -1.25866488e-04 9.99986895e-01 -4.38120978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.42, Y:-22.10, Z:-4.38 [[ 9.85006472e-01 1.72418001e-01 5.85525276e-03 1.79420467e+02] [-1.72415872e-01 9.85023863e-01 -8.70249314e-04 -2.20960805e+01] [-5.91761033e-03 -1.52337301e-04 9.99982479e-01 -4.38229705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:-22.10, Z:-4.38 [[ 9.85020800e-01 1.72339373e-01 5.75887597e-03 1.79449063e+02] [-1.72337312e-01 9.85037623e-01 -8.56003644e-04 -2.20986365e+01] [-5.82023263e-03 -1.49287811e-04 9.99983051e-01 -4.38306788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.48, Y:-22.10, Z:-4.38 [[ 9.85078468e-01 1.72018973e-01 5.46674183e-03 1.79477289e+02] [-1.72017112e-01 9.85093627e-01 -8.12412858e-04 -2.21027007e+01] [-5.52500296e-03 -1.40082726e-04 9.99984727e-01 -4.38335645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.51, Y:-22.10, Z:-4.38 [[ 9.85193082e-01 1.71313910e-01 6.79224181e-03 1.79506095e+02] [-1.71311023e-01 9.85216482e-01 -1.00893047e-03 -2.21044499e+01] [-6.86467240e-03 -1.69594570e-04 9.99976423e-01 -4.38272128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.54, Y:-22.11, Z:-4.38 [[ 9.85157311e-01 1.71460992e-01 8.13640939e-03 1.79535596e+02] [-1.71456860e-01 9.85190888e-01 -1.20796293e-03 -2.21050460e+01] [-8.22303492e-03 -2.05009691e-04 9.99966169e-01 -4.38335745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.57, Y:-22.10, Z:-4.38 [[ 9.84998389e-01 1.72382348e-01 7.90564739e-03 1.79565688e+02] [-1.72378477e-01 9.85030093e-01 -1.17355143e-03 -2.21016708e+01] [-7.98960013e-03 -2.06817190e-04 9.99968061e-01 -4.38429375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.59, Y:-22.10, Z:-4.39 [[ 9.84906455e-01 1.72934247e-01 7.28159012e-03 1.79594186e+02] [-1.72930978e-01 9.84933352e-01 -1.08097056e-03 -2.21018932e+01] [-7.35881780e-03 -1.94557619e-04 9.99972905e-01 -4.38511319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.62, Y:-22.10, Z:-4.39 [[ 9.84790533e-01 1.73592722e-01 7.29196399e-03 1.79622206e+02] [-1.73589461e-01 9.84817510e-01 -1.08259415e-03 -2.20992938e+01] [-7.36918428e-03 -1.99679630e-04 9.99972827e-01 -4.38635182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-22.10, Z:-4.39 [[ 9.84784794e-01 1.73634052e-01 7.07986625e-03 1.79651035e+02] [-1.73630983e-01 9.84810224e-01 -1.05055517e-03 -2.21012182e+01] [-7.15473682e-03 -1.94713382e-04 9.99974386e-01 -4.38693716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:-22.10, Z:-4.39 [[ 9.84863519e-01 1.73180591e-01 7.23408192e-03 1.79678795e+02] [-1.73177376e-01 9.84890067e-01 -1.07324702e-03 -2.21026127e+01] [-7.31064098e-03 -1.95777489e-04 9.99973258e-01 -4.38785467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.71, Y:-22.10, Z:-4.39 [[ 9.85236603e-01 1.70999699e-01 8.24249798e-03 1.79708009e+02] [-1.70995456e-01 9.85271059e-01 -1.22198531e-03 -2.21001220e+01] [-8.33005383e-03 -2.05485043e-04 9.99965283e-01 -4.38752797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:-22.10, Z:-4.39 [[ 9.85535566e-01 1.69251705e-01 8.57371199e-03 1.79735788e+02] [-1.69247051e-01 9.85572839e-01 -1.27079664e-03 -2.21001809e+01] [-8.66510216e-03 -1.98660187e-04 9.99962438e-01 -4.38802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.77, Y:-22.10, Z:-4.39 [[ 9.86278483e-01 1.64844021e-01 9.01126590e-03 1.79765652e+02] [-1.64838703e-01 9.86319634e-01 -1.33485395e-03 -2.20966167e+01] [-9.10803118e-03 -1.68867653e-04 9.99958507e-01 -4.38862982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.79, Y:-22.10, Z:-4.39 [[ 9.86733956e-01 1.62110307e-01 8.73778217e-03 1.79794681e+02] [-1.62105203e-01 9.86772633e-01 -1.29395305e-03 -2.20978174e+01] [-8.83196745e-03 -1.39652542e-04 9.99960988e-01 -4.39036053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:-22.10, Z:-4.39 [[ 9.87196059e-01 1.59289277e-01 8.41833016e-03 1.79822537e+02] [-1.59284438e-01 9.87231945e-01 -1.24644851e-03 -2.21004451e+01] [-8.50939034e-03 -1.10419932e-04 9.99963788e-01 -4.39077177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.85, Y:-22.10, Z:-4.39 [[ 9.87969829e-01 1.54429540e-01 8.19358455e-03 1.79851194e+02] [-1.54424795e-01 9.88003802e-01 -1.21250896e-03 -2.21023331e+01] [-8.28253989e-03 -6.73703404e-05 9.99965697e-01 -4.39153702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.88, Y:-22.10, Z:-4.39 [[ 9.88301534e-01 1.52310901e-01 7.84015810e-03 1.79878615e+02] [-1.52306491e-01 9.88332630e-01 -1.16005550e-03 -2.21038707e+01] [-7.92537318e-03 -4.76223394e-05 9.99968593e-01 -4.39184369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.91, Y:-22.10, Z:-4.39 [[ 9.88756817e-01 1.49413778e-01 5.95655328e-03 1.79908321e+02] [-1.49411181e-01 9.88774758e-01 -8.81109359e-04 -2.21024993e+01] [-6.02133941e-03 -1.87727781e-05 9.99981871e-01 -4.39226135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:-22.10, Z:-4.39 [[ 9.88901062e-01 1.48466061e-01 5.70247787e-03 1.79935932e+02] [-1.48463665e-01 9.88917503e-01 -8.43503894e-04 -2.21049139e+01] [-5.76451188e-03 -1.24688701e-05 9.99983385e-01 -4.39328087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:-22.11, Z:-4.39 [[ 9.89049378e-01 1.47484583e-01 5.44292314e-03 1.79964129e+02] [-1.47482388e-01 9.89064355e-01 -8.04616169e-04 -2.21087928e+01] [-5.50206974e-03 -6.93018070e-06 9.99984863e-01 -4.39383260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.99, Y:-22.11, Z:-4.39 [[ 9.89166719e-01 1.46671725e-01 6.05039601e-03 1.79993082e+02] [-1.46669000e-01 9.89185223e-01 -8.94009985e-04 -2.21133521e+01] [-6.11608832e-03 -3.08061079e-06 9.99981297e-01 -4.39434302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:-22.12, Z:-4.39 [[ 9.89283559e-01 1.45835642e-01 7.07146704e-03 1.80020740e+02] [-1.45831901e-01 9.89308832e-01 -1.04454259e-03 -2.21163114e+01] [-7.14819634e-03 2.10332945e-06 9.99974451e-01 -4.39467035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.05, Y:-22.12, Z:-4.39 [[ 9.89297172e-01 1.45721928e-01 7.49835118e-03 1.80048731e+02] [-1.45717723e-01 9.89325588e-01 -1.10705663e-03 -2.21198564e+01] [-7.57963312e-03 2.56533590e-06 9.99971274e-01 -4.39487455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.08, Y:-22.12, Z:-4.39 [[ 9.89296580e-01 1.45663521e-01 8.62645286e-03 1.80077818e+02] [-1.45657961e-01 9.89334190e-01 -1.27271877e-03 -2.21213971e+01] [-8.71983345e-03 2.58479221e-06 9.99961982e-01 -4.39437730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:-22.12, Z:-4.39 [[ 9.89245129e-01 1.45984810e-01 9.08346846e-03 1.80106359e+02] [-1.45978662e-01 9.89286832e-01 -1.33968592e-03 -2.21234359e+01] [-9.18172952e-03 -7.14806588e-07 9.99957847e-01 -4.39470000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:180.13, Y:-22.13, Z:-4.40 [[ 9.89204657e-01 1.46278014e-01 8.76864105e-03 1.80134328e+02] [-1.46272299e-01 9.89243520e-01 -1.29302683e-03 -2.21256641e+01] [-8.86346274e-03 -3.54112683e-06 9.99960719e-01 -4.39579286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.16, Y:-22.13, Z:-4.40 [[ 9.89010862e-01 1.47559300e-01 9.15250688e-03 1.80163119e+02] [-1.47553136e-01 9.89053210e-01 -1.34880094e-03 -2.21296432e+01] [-9.25134443e-03 -1.65023083e-05 9.99957205e-01 -4.39661497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:-22.13, Z:-4.40 [[ 9.88886817e-01 1.48394009e-01 9.05986918e-03 1.80191531e+02] [-1.48388008e-01 9.88928318e-01 -1.33474935e-03 -2.21341271e+01] [-9.15763000e-03 -2.44598983e-05 9.99958068e-01 -4.39660077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.22, Y:-22.14, Z:-4.40 [[ 9.88651613e-01 1.49879848e-01 1.01990156e-02 1.80219028e+02] [-1.49872327e-01 9.88704217e-01 -1.50207657e-03 -2.21381815e+01] [-1.03089407e-02 -4.35197691e-05 9.99946861e-01 -4.39731227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:-22.14, Z:-4.40 [[ 9.88603351e-01 1.50238680e-01 9.57881071e-03 1.80247905e+02] [-1.50232069e-01 9.88649755e-01 -1.41005439e-03 -2.21421745e+01] [-9.68193357e-03 -4.50600608e-05 9.99953128e-01 -4.39800874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.28, Y:-22.15, Z:-4.40 [[ 9.88567307e-01 1.50488472e-01 9.37547319e-03 1.80275220e+02] [-1.50482153e-01 9.88611763e-01 -1.37984966e-03 -2.21460155e+01] [-9.47635454e-03 -4.67671269e-05 9.99955097e-01 -4.39881494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:-22.15, Z:-4.40 [[ 9.88622972e-01 1.50185859e-01 8.29615712e-03 1.80303737e+02] [-1.50180906e-01 9.88657780e-01 -1.22045429e-03 -2.21509267e+01] [-8.38535526e-03 -3.93552466e-05 9.99964842e-01 -4.39935509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.33, Y:-22.16, Z:-4.40 [[ 9.88730774e-01 1.49524763e-01 7.33503085e-03 1.80331455e+02] [-1.49520872e-01 9.88757981e-01 -1.07910114e-03 -2.21555195e+01] [-7.41392263e-03 -2.97997004e-05 9.99972516e-01 -4.40036561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:-22.16, Z:-4.40 [[ 9.89023793e-01 1.47619135e-01 6.36620493e-03 1.80359324e+02] [-1.47616168e-01 9.89044281e-01 -9.36066116e-04 -2.21608614e+01] [-6.43463985e-03 -1.39631169e-05 9.99979297e-01 -4.40102364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.39, Y:-22.17, Z:-4.40 [[ 9.89228088e-01 1.46238484e-01 6.48819003e-03 1.80387270e+02] [-1.46235375e-01 9.89249365e-01 -9.53674071e-04 -2.21661824e+01] [-6.55790172e-03 -5.40172157e-06 9.99978497e-01 -4.40171489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.42, Y:-22.17, Z:-4.40 [[ 9.89366044e-01 1.45290933e-01 6.73612356e-03 1.80415541e+02] [-1.45287562e-01 9.89388975e-01 -9.89783107e-04 -2.21725566e+01] [-6.80845290e-03 5.82831528e-07 9.99976822e-01 -4.40229343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.44, Y:-22.18, Z:-4.40 [[ 9.89431851e-01 1.44812358e-01 7.34795882e-03 1.80442880e+02] [-1.44808335e-01 9.89459136e-01 -1.07940082e-03 -2.21810419e+01] [-7.42681556e-03 3.94786938e-06 9.99972421e-01 -4.40233636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:-22.19, Z:-4.40 [[ 9.89321710e-01 1.45546161e-01 7.67263717e-03 1.80471629e+02] [-1.45541803e-01 9.89351462e-01 -1.12636927e-03 -2.21864858e+01] [-7.75487353e-03 -2.34788003e-06 9.99969931e-01 -4.40280454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.50, Y:-22.19, Z:-4.40 [[ 9.88807198e-01 1.49037606e-01 6.93666374e-03 1.80499247e+02] [-1.49034129e-01 9.88831528e-01 -1.01828661e-03 -2.21888710e+01] [-7.01095480e-03 -2.69105080e-05 9.99975423e-01 -4.40292360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:-22.19, Z:-4.40 [[ 9.88812508e-01 1.49002365e-01 6.93678670e-03 1.80528271e+02] [-1.48998893e-01 9.88836839e-01 -1.01744784e-03 -2.21930397e+01] [-7.01095237e-03 -2.75083878e-05 9.99975423e-01 -4.40360905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.56, Y:-22.20, Z:-4.40 [[ 9.88434702e-01 1.51526340e-01 6.05045174e-03 1.80555580e+02] [-1.51523745e-01 9.88453219e-01 -8.87741562e-04 -2.21958041e+01] [-6.11510473e-03 -3.93125378e-05 9.99981302e-01 -4.40467221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.58, Y:-22.20, Z:-4.41 [[ 9.88058754e-01 1.53982142e-01 5.42205653e-03 1.80584236e+02] [-1.53980097e-01 9.88073630e-01 -7.95150707e-04 -2.21993954e+01] [-5.47983008e-03 -4.92331735e-05 9.99984984e-01 -4.40604654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.61, Y:-22.20, Z:-4.41 [[ 9.87375477e-01 1.58341663e-01 4.19333482e-03 1.80613135e+02] [-1.58340479e-01 9.87384380e-01 -6.15034605e-04 -2.22034188e+01] [-4.23781890e-03 -5.67045575e-05 9.99991019e-01 -4.40673634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:-22.21, Z:-4.41 [[ 9.87104590e-01 1.60018508e-01 4.31330446e-03 1.80639758e+02] [-1.60017270e-01 9.87114012e-01 -6.32834900e-04 -2.22062382e+01] [-4.35898856e-03 -6.55289688e-05 9.99990497e-01 -4.40738668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.67, Y:-22.21, Z:-4.41 [[ 9.86714603e-01 1.62365852e-01 5.62342679e-03 1.80666655e+02] [-1.62363788e-01 9.86730622e-01 -8.24594604e-04 -2.22077672e+01] [-5.68269342e-03 -9.94013396e-05 9.99983848e-01 -4.40744289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.69, Y:-22.21, Z:-4.41 [[ 9.86656344e-01 1.62706515e-01 5.98733932e-03 1.80694649e+02] [-1.62704189e-01 9.86674505e-01 -8.76743956e-04 -2.22105851e+01] [-6.05020701e-03 -1.09120203e-04 9.99981691e-01 -4.40764474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:-22.21, Z:-4.41 [[ 9.86687867e-01 1.62496915e-01 6.46570745e-03 1.80721914e+02] [-1.62494199e-01 9.86709045e-01 -9.46631956e-04 -2.22128598e+01] [-6.53359679e-03 -1.16609687e-04 9.99978649e-01 -4.40810550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.75, Y:-22.22, Z:-4.41 [[ 9.86906106e-01 1.61156996e-01 6.69027207e-03 1.80748963e+02] [-1.61154065e-01 9.86928777e-01 -9.78465845e-04 -2.22151677e+01] [-6.76050864e-03 -1.12510619e-04 9.99977141e-01 -4.40908638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:-22.22, Z:-4.41 [[ 9.87134062e-01 1.59758824e-01 6.59259164e-03 1.80776850e+02] [-1.59755953e-01 9.87156071e-01 -9.63215093e-04 -2.22186889e+01] [-6.66179897e-03 -1.02383336e-04 9.99977805e-01 -4.41000791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.81, Y:-22.22, Z:-4.41 [[ 9.87632924e-01 1.56639846e-01 6.72060884e-03 1.80806094e+02] [-1.56636794e-01 9.87655786e-01 -9.81295586e-04 -2.22212121e+01] [-6.79135820e-03 -8.35347955e-05 9.99976935e-01 -4.41072330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.83, Y:-22.22, Z:-4.41 [[ 9.87945064e-01 1.54659684e-01 6.70313845e-03 1.80834521e+02] [-1.54656605e-01 9.87967802e-01 -9.78421740e-04 -2.22247812e+01] [-6.77380735e-03 -7.00577089e-05 9.99977055e-01 -4.41165243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:-22.23, Z:-4.41 [[ 9.88262030e-01 1.52645088e-01 6.13488020e-03 1.80861681e+02] [-1.52642470e-01 9.88281071e-01 -8.95474073e-04 -2.22285997e+01] [-6.19967569e-03 -5.14802401e-05 9.99980781e-01 -4.41261633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.89, Y:-22.23, Z:-4.41 [[ 9.88862424e-01 1.48755851e-01 4.77527390e-03 1.80890697e+02] [-1.48754220e-01 9.88873954e-01 -6.96875842e-04 -2.22321333e+01] [-4.82580834e-03 -2.12278115e-05 9.99988355e-01 -4.41326967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:-22.24, Z:-4.41 [[ 9.89125281e-01 1.46974138e-01 5.45719936e-03 1.80918370e+02] [-1.46971982e-01 9.89140335e-01 -7.96161840e-04 -2.22363155e+01] [-5.51495120e-03 -1.45516031e-05 9.99984792e-01 -4.41452406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.95, Y:-22.24, Z:-4.41 [[ 9.89547138e-01 1.44117575e-01 5.15621961e-03 1.80946090e+02] [-1.44115614e-01 9.89560571e-01 -7.51940291e-04 -2.22421176e+01] [-5.21075944e-03 9.88609981e-07 9.99986424e-01 -4.41498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.97, Y:-22.25, Z:-4.42 [[ 9.89674461e-01 1.43265029e-01 4.42644834e-03 1.80974459e+02] [-1.43263577e-01 9.89684359e-01 -6.45035285e-04 -2.22463895e+01] [-4.47319769e-03 4.22612500e-06 9.99989995e-01 -4.41508405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.00, Y:-22.25, Z:-4.42 [[ 9.89730295e-01 1.42878408e-01 4.43881754e-03 1.81003392e+02] [-1.42876944e-01 9.89740249e-01 -6.46904590e-04 -2.22495758e+01] [-4.48570507e-03 6.05638755e-06 9.99989939e-01 -4.41566262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:-22.25, Z:-4.42 [[ 9.89614144e-01 1.43676320e-01 4.57836214e-03 1.81032003e+02] [-1.43674772e-01 9.89624735e-01 -6.66969356e-04 -2.22545297e+01] [-4.62668812e-03 2.24717311e-06 9.99989297e-01 -4.41639399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.06, Y:-22.26, Z:-4.42 [[ 9.89500876e-01 1.44452598e-01 4.63291924e-03 1.81060303e+02] [-1.44451022e-01 9.89511722e-01 -6.74676923e-04 -2.22600031e+01] [-4.68178673e-03 -1.63651403e-06 9.99989040e-01 -4.41707425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:181.09, Y:-22.26, Z:-4.42 [[ 9.89363836e-01 1.45389937e-01 4.57881943e-03 1.81088583e+02] [-1.45388409e-01 9.89374432e-01 -6.66579000e-04 -2.22648338e+01] [-4.62708075e-03 -6.21811588e-06 9.99989295e-01 -4.41758776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.12, Y:-22.27, Z:-4.42 [[ 9.89116552e-01 1.47049516e-01 4.98858905e-03 1.81115633e+02] [-1.47047724e-01 9.89129132e-01 -7.26201984e-04 -2.22701807e+01] [-5.04114641e-03 -1.52622616e-05 9.99987293e-01 -4.41804762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.14, Y:-22.28, Z:-4.42 [[ 9.89022297e-01 1.47679997e-01 5.05108685e-03 1.81144489e+02] [-1.47678171e-01 9.89035196e-01 -7.34630392e-04 -2.22753727e+01] [-5.10419289e-03 -1.93694315e-05 9.99986973e-01 -4.41863683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.17, Y:-22.28, Z:-4.42 [[ 9.88671296e-01 1.49991836e-01 5.61400779e-03 1.81172102e+02] [-1.49989619e-01 9.88687235e-01 -8.16302529e-04 -2.22819321e+01] [-5.67293655e-03 -3.49880092e-05 9.99983908e-01 -4.41902012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.20, Y:-22.29, Z:-4.42 [[ 9.88423285e-01 1.51621915e-01 5.49595868e-03 1.81200684e+02] [-1.51619818e-01 9.88438563e-01 -7.98570130e-04 -2.22869902e+01] [-5.55349823e-03 -4.39709440e-05 9.99984578e-01 -4.41914949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:-22.29, Z:-4.42 [[ 9.88115366e-01 1.53625939e-01 5.20528495e-03 1.81228739e+02] [-1.53624087e-01 9.88129075e-01 -7.56152505e-04 -2.22919005e+01] [-5.25965804e-03 -5.24912401e-05 9.99986167e-01 -4.41997545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.26, Y:-22.30, Z:-4.42 [[ 9.87387108e-01 1.58241127e-01 5.14245435e-03 1.81256350e+02] [-1.58239382e-01 9.87400496e-01 -7.47001974e-04 -2.22974711e+01] [-5.19586841e-03 -7.61586803e-05 9.99986498e-01 -4.42089097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.28, Y:-22.30, Z:-4.42 [[ 9.87053043e-01 1.60317424e-01 4.96129031e-03 1.81284309e+02] [-1.60315826e-01 9.87065508e-01 -7.20626819e-04 -2.23017649e+01] [-5.01264757e-03 -8.40764602e-05 9.99987433e-01 -4.42133698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.31, Y:-22.31, Z:-4.42 [[ 9.86440202e-01 1.64082553e-01 3.55586345e-03 1.81312076e+02] [-1.64081756e-01 9.86446608e-01 -5.16724498e-04 -2.23055167e+01] [-3.59245492e-03 -7.37345014e-05 9.99993544e-01 -4.42194796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.34, Y:-22.31, Z:-4.42 [[ 9.86168568e-01 1.65715829e-01 3.13364146e-03 1.81340166e+02] [-1.65715219e-01 9.86173544e-01 -4.55359667e-04 -2.23098276e+01] [-3.16577461e-03 -7.02306882e-05 9.99994986e-01 -4.42313233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.37, Y:-22.31, Z:-4.42 [[ 9.85975003e-01 1.66864233e-01 3.10186505e-03 1.81367150e+02] [-1.66863640e-01 9.85979879e-01 -4.50768907e-04 -2.23142946e+01] [-3.13359374e-03 -7.31416182e-05 9.99995088e-01 -4.42356533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:-22.32, Z:-4.42 [[ 9.85869810e-01 1.67472489e-01 3.69896402e-03 1.81395233e+02] [-1.67471654e-01 9.85876745e-01 -5.36578514e-04 -2.23183131e+01] [-3.73658475e-03 -9.04750643e-05 9.99993015e-01 -4.42417660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:-22.32, Z:-4.42 [[ 9.85775748e-01 1.68009793e-01 4.34554374e-03 1.81423554e+02] [-1.68008649e-01 9.85785320e-01 -6.29759771e-04 -2.23194253e+01] [-4.38957904e-03 -1.09287022e-04 9.99990360e-01 -4.42386863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.45, Y:-22.32, Z:-4.42 [[ 9.85830613e-01 1.67682813e-01 4.52522924e-03 1.81451016e+02] [-1.67681569e-01 9.85840992e-01 -6.55422778e-04 -2.23219531e+01] [-4.57105962e-03 -1.12661702e-04 9.99989546e-01 -4.42437758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.48, Y:-22.32, Z:-4.43 [[ 9.86153813e-01 1.65779359e-01 4.22631401e-03 1.81477996e+02] [-1.65778257e-01 9.86162864e-01 -6.12149853e-04 -2.23248487e+01] [-4.26931574e-03 -9.69570606e-05 9.99990882e-01 -4.42657295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.51, Y:-22.33, Z:-4.43 [[ 9.86416739e-01 1.64215079e-01 3.92741890e-03 1.81505212e+02] [-1.64214116e-01 9.86424554e-01 -5.68435751e-04 -2.23289450e+01] [-3.96744816e-03 -8.42230840e-05 9.99992126e-01 -4.42618086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.53, Y:-22.33, Z:-4.43 [[ 9.86769615e-01 1.62085275e-01 3.75384437e-03 1.81532921e+02] [-1.62084381e-01 9.86776752e-01 -5.43189886e-04 -2.23337623e+01] [-3.79224944e-03 -7.24362657e-05 9.99992807e-01 -4.42639237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:-22.34, Z:-4.43 [[ 9.87628314e-01 1.56763263e-01 3.94886330e-03 1.81559834e+02] [-1.56762234e-01 9.87636206e-01 -5.70875483e-04 -2.23401743e+01] [-3.98953267e-03 -5.52198405e-05 9.99992040e-01 -4.42694795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.59, Y:-22.34, Z:-4.43 [[ 9.87973069e-01 1.54583875e-01 3.61119407e-03 1.81587714e+02] [-1.54583000e-01 9.87979668e-01 -5.21789811e-04 -2.23436092e+01] [-3.64844661e-03 -4.27149324e-05 9.99993343e-01 -4.42767808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:-22.35, Z:-4.43 [[ 9.88223384e-01 1.52977222e-01 3.53741078e-03 1.81616549e+02] [-1.52976373e-01 9.88229714e-01 -5.10711650e-04 -2.23460092e+01] [-3.57390169e-03 -3.64430776e-05 9.99993613e-01 -4.42848961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:-22.35, Z:-4.43 [[ 9.88500297e-01 1.51177172e-01 3.55335945e-03 1.81643980e+02] [-1.51176304e-01 9.88506683e-01 -5.13067499e-04 -2.23495856e+01] [-3.59008365e-03 -3.00163744e-05 9.99993555e-01 -4.42937896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.67, Y:-22.35, Z:-4.43 [[ 9.88553206e-01 1.50828090e-01 3.66683915e-03 1.81671560e+02] [-1.50827164e-01 9.88560007e-01 -5.29188110e-04 -2.23547875e+01] [-3.70470696e-03 -2.99283476e-05 9.99993137e-01 -4.42962554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.70, Y:-22.36, Z:-4.43 [[ 9.88528655e-01 1.50960998e-01 4.67719294e-03 1.81699610e+02] [-1.50959497e-01 9.88539719e-01 -6.74342784e-04 -2.23566931e+01] [-4.72539045e-03 -3.94595298e-05 9.99988835e-01 -4.42943716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:-22.36, Z:-4.43 [[ 9.88457054e-01 1.51427890e-01 4.71655191e-03 1.81727795e+02] [-1.51426370e-01 9.88468306e-01 -6.79725713e-04 -2.23588095e+01] [-4.76509151e-03 -4.23306584e-05 9.99988646e-01 -4.43057697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.76, Y:-22.36, Z:-4.43 [[ 9.88432744e-01 1.51606596e-01 4.01878203e-03 1.81755676e+02] [-1.51605493e-01 9.88440913e-01 -5.79412165e-04 -2.23613526e+01] [-4.06017129e-03 -3.65594737e-05 9.99991757e-01 -4.43128824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.78, Y:-22.36, Z:-4.43 [[ 9.88392842e-01 1.51876039e-01 3.64134484e-03 1.81782948e+02] [-1.51875135e-01 9.88399549e-01 -5.25110718e-04 -2.23627106e+01] [-3.67885534e-03 -3.40140635e-05 9.99993232e-01 -4.43281969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.81, Y:-22.37, Z:-4.43 [[ 9.88386833e-01 1.51920477e-01 3.41135540e-03 1.81811538e+02] [-1.51919687e-01 9.88392719e-01 -4.91140392e-04 -2.23650450e+01] [-3.44637313e-03 -3.28153495e-05 9.99994061e-01 -4.43323875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:-22.37, Z:-4.43 [[ 9.88383345e-01 1.51946376e-01 3.26537278e-03 1.81839656e+02] [-1.51945651e-01 9.88388738e-01 -4.70403571e-04 -2.23674204e+01] [-3.29893380e-03 -3.12201390e-05 9.99994558e-01 -4.43422480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.87, Y:-22.37, Z:-4.43 [[ 9.88460475e-01 1.51447448e-01 3.09196021e-03 1.81867392e+02] [-1.51446796e-01 9.88465310e-01 -4.45335524e-04 -2.23711806e+01] [-3.12374034e-03 -2.80709040e-05 9.99995121e-01 -4.43478136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.90, Y:-22.37, Z:-4.43 [[ 9.88545945e-01 1.50889335e-01 3.05332062e-03 1.81895509e+02] [-1.50888697e-01 9.88550660e-01 -4.39563062e-04 -2.23748326e+01] [-3.08468749e-03 -2.61832872e-05 9.99995242e-01 -4.43497009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:-22.38, Z:-4.44 [[ 9.88761319e-01 1.49469470e-01 3.15135085e-03 1.81922310e+02] [-1.49468784e-01 9.88766341e-01 -4.53624340e-04 -2.23751467e+01] [-3.18375264e-03 -2.25023783e-05 9.99994932e-01 -4.43614518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.95, Y:-22.38, Z:-4.44 [[ 9.88951383e-01 1.48200045e-01 3.45092373e-03 1.81950448e+02] [-1.48199216e-01 9.88957404e-01 -4.96044166e-04 -2.23771545e+01] [-3.48633034e-03 -2.08606274e-05 9.99993923e-01 -4.43683641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:-22.38, Z:-4.44 [[ 9.89207356e-01 1.46478748e-01 3.57544564e-03 1.81978088e+02] [-1.46477848e-01 9.89213817e-01 -5.13647057e-04 -2.23806495e+01] [-3.61211860e-03 -1.56201361e-05 9.99993476e-01 -4.43724765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.01, Y:-22.39, Z:-4.44 [[ 9.89737805e-01 1.42827714e-01 4.39571303e-03 1.82006453e+02] [-1.42826324e-01 9.89747566e-01 -6.30317717e-04 -2.23860443e+01] [-4.44067311e-03 -3.97425784e-06 9.99990140e-01 -4.43748215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.03, Y:-22.39, Z:-4.44 [[ 9.89980521e-01 1.41133148e-01 4.47235266e-03 1.82033739e+02] [-1.41131691e-01 9.89990624e-01 -6.41289517e-04 -2.23903229e+01] [-4.51809440e-03 3.67343861e-06 9.99989793e-01 -4.43769111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:-22.40, Z:-4.44 [[ 9.90407607e-01 1.38113578e-01 4.17268304e-03 1.82061649e+02] [-1.38112285e-01 9.90416397e-01 -5.97877703e-04 -2.23951998e+01] [-4.21526873e-03 1.58438368e-05 9.99991116e-01 -4.43859933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.09, Y:-22.40, Z:-4.44 [[ 9.90554386e-01 1.37047176e-01 4.48114801e-03 1.82089841e+02] [-1.37045675e-01 9.90564521e-01 -6.41820731e-04 -2.23995349e+01] [-4.52682596e-03 2.16363850e-05 9.99989754e-01 -4.43904799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.12, Y:-22.40, Z:-4.44 [[ 9.90594179e-01 1.36740680e-01 5.01577734e-03 1.82117113e+02] [-1.36738796e-01 9.90606877e-01 -7.18226428e-04 -2.24036124e+01] [-5.06687430e-03 2.56195637e-05 9.99987163e-01 -4.43934859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.14, Y:-22.41, Z:-4.44 [[ 9.90364265e-01 1.38338963e-01 6.39948564e-03 1.82144979e+02] [-1.38335936e-01 9.90384941e-01 -9.15337663e-04 -2.24095733e+01] [-6.46458107e-03 2.12388764e-05 9.99979104e-01 -4.43976304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:-22.41, Z:-4.44 [[ 9.90133496e-01 1.39969861e-01 6.64064604e-03 1.82173312e+02] [-1.39966641e-01 9.90155765e-01 -9.49486741e-04 -2.24149471e+01] [-6.70817348e-03 1.06497084e-05 9.99977500e-01 -4.43959592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.20, Y:-22.42, Z:-4.44 [[ 9.89499981e-01 1.44365879e-01 6.94839963e-03 1.82201600e+02] [-1.44362464e-01 9.89524377e-01 -9.93118264e-04 -2.24203563e+01] [-7.01898321e-03 -2.03975895e-05 9.99975366e-01 -4.43971078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:-22.42, Z:-4.44 [[ 9.89142316e-01 1.46800827e-01 6.85540049e-03 1.82228776e+02] [-1.46797564e-01 9.89166071e-01 -9.79487325e-04 -2.24237722e+01] [-6.92491912e-03 -3.75037309e-05 9.99976022e-01 -4.44072145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.26, Y:-22.43, Z:-4.44 [[ 9.88801206e-01 1.49091268e-01 6.63089976e-03 1.82257114e+02] [-1.49088269e-01 9.88823438e-01 -9.47096631e-04 -2.24268313e+01] [-6.69799294e-03 -5.20990771e-05 9.99977567e-01 -4.44138378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:-22.43, Z:-4.44 [[ 9.88806700e-01 1.49054822e-01 6.63097514e-03 1.82286154e+02] [-1.49051826e-01 9.88828932e-01 -9.46568343e-04 -2.24308891e+01] [-6.69799064e-03 -5.23858295e-05 9.99977567e-01 -4.44206922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:-22.43, Z:-4.44 [[ 9.88130397e-01 1.53498495e-01 6.04395918e-03 1.82314177e+02] [-1.53496087e-01 9.88148879e-01 -8.63044655e-04 -2.24329027e+01] [-6.10480755e-03 -7.49234297e-05 9.99981363e-01 -4.44275765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.34, Y:-22.44, Z:-4.44 [[ 9.87786505e-01 1.55694148e-01 6.09525338e-03 1.82343157e+02] [-1.55691744e-01 9.87805307e-01 -8.69783112e-04 -2.24362853e+01] [-6.15634378e-03 -8.98206109e-05 9.99981046e-01 -4.44353235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:-22.44, Z:-4.44 [[ 9.87089068e-01 1.60042238e-01 6.45396619e-03 1.82370522e+02] [-1.60039638e-01 9.87110159e-01 -9.20776765e-04 -2.24394436e+01] [-6.51813877e-03 -1.24001731e-04 9.99978749e-01 -4.44435530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.40, Y:-22.44, Z:-4.45 [[ 9.86727035e-01 1.62242601e-01 6.86276314e-03 1.82398195e+02] [-1.62239716e-01 9.86750889e-01 -9.78710338e-04 -2.24427783e+01] [-6.93062614e-03 -1.47692795e-04 9.99975972e-01 -4.44542698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:-22.44, Z:-4.45 [[ 9.86018019e-01 1.66466591e-01 7.57234600e-03 1.82426135e+02] [-1.66463208e-01 9.86047076e-01 -1.07923040e-03 -2.24433070e+01] [-7.64634543e-03 -1.96376385e-04 9.99970747e-01 -4.44569628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:-22.44, Z:-4.45 [[ 9.85713421e-01 1.68247337e-01 7.86665339e-03 1.82454328e+02] [-1.68243749e-01 9.85744787e-01 -1.12052580e-03 -2.24447470e+01] [-7.94303805e-03 -2.18997938e-04 9.99968430e-01 -4.44682155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.48, Y:-22.45, Z:-4.45 [[ 9.85496197e-01 1.69519294e-01 7.77520873e-03 1.82482136e+02] [-1.69515832e-01 9.85526843e-01 -1.10695168e-03 -2.24458926e+01] [-7.85032658e-03 -2.27124297e-04 9.99969160e-01 -4.44751426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:-22.45, Z:-4.45 [[ 9.85361082e-01 1.70331672e-01 7.11755686e-03 1.82509459e+02] [-1.70328793e-01 9.85386765e-01 -1.01312905e-03 -2.24470363e+01] [-7.18611429e-03 -2.14026929e-04 9.99974157e-01 -4.44847914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.54, Y:-22.45, Z:-4.45 [[ 9.85379550e-01 1.70291234e-01 5.29518710e-03 1.82538250e+02] [-1.70289641e-01 9.85393764e-01 -7.53561250e-04 -2.24460883e+01] [-5.34616922e-03 -1.59171666e-04 9.99985696e-01 -4.45017194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:-22.45, Z:-4.45 [[ 9.85546975e-01 1.69338195e-01 4.66212450e-03 1.82565094e+02] [-1.69336949e-01 9.85557993e-01 -6.63556709e-04 -2.24478011e+01] [-4.70715956e-03 -1.35503632e-04 9.99988912e-01 -4.45130813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.59, Y:-22.45, Z:-4.45 [[ 9.85780163e-01 1.67979676e-01 4.50550302e-03 1.82593362e+02] [-1.67978501e-01 9.85790451e-01 -6.40663254e-04 -2.24500697e+01] [-4.54910026e-03 -1.25274517e-04 9.99989645e-01 -4.45246957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.62, Y:-22.45, Z:-4.45 [[ 9.86397126e-01 1.64332759e-01 3.93113417e-03 1.82621111e+02] [-1.64331832e-01 9.86404955e-01 -5.59943181e-04 -2.24511477e+01] [-3.96970723e-03 -9.36841337e-05 9.99992116e-01 -4.45363705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.65, Y:-22.45, Z:-4.45 [[ 9.86708467e-01 1.62435545e-01 4.59293163e-03 1.82648221e+02] [-1.62434263e-01 9.86719151e-01 -6.53191427e-04 -2.24535626e+01] [-4.63803510e-03 -1.01539953e-04 9.99989239e-01 -4.45422074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:-22.45, Z:-4.45 [[ 9.87304649e-01 1.58742283e-01 5.51529325e-03 1.82676784e+02] [-1.58740390e-01 9.87320048e-01 -7.82151881e-04 -2.24531193e+01] [-5.56952018e-03 -1.03277614e-04 9.99984485e-01 -4.45392664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:-22.45, Z:-4.45 [[ 9.87653308e-01 1.56570558e-01 5.15791515e-03 1.82703822e+02] [-1.56568872e-01 9.87666772e-01 -7.31410323e-04 -2.24545783e+01] [-5.20881873e-03 -8.51891354e-05 9.99986430e-01 -4.45471909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.73, Y:-22.46, Z:-4.46 [[ 9.87991263e-01 1.54437170e-01 4.73547558e-03 1.82731441e+02] [-1.54435728e-01 9.88002609e-01 -6.70964558e-04 -2.24568159e+01] [-4.78228410e-03 -6.84194963e-05 9.99988562e-01 -4.45548041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:-22.46, Z:-4.46 [[ 9.88337347e-01 1.52202771e-01 4.85856266e-03 1.82759493e+02] [-1.52201227e-01 9.88349287e-01 -6.88027208e-04 -2.24596769e+01] [-4.90667659e-03 -5.94762134e-05 9.99987960e-01 -4.45651761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.79, Y:-22.46, Z:-4.46 [[ 9.88894813e-01 1.48527153e-01 5.17038157e-03 1.82787560e+02] [-1.48525357e-01 9.88908329e-01 -7.31739207e-04 -2.24619116e+01] [-5.22171654e-03 -4.43196598e-05 9.99986366e-01 -4.45686422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.82, Y:-22.46, Z:-4.46 [[ 9.89120582e-01 1.47020322e-01 5.04963633e-03 1.82815902e+02] [-1.47018591e-01 9.89133471e-01 -7.14312859e-04 -2.24644154e+01] [-5.09978282e-03 -3.58488684e-05 9.99986995e-01 -4.45748404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.84, Y:-22.47, Z:-4.46 [[ 9.89359289e-01 1.45370457e-01 5.96891159e-03 1.82843876e+02] [-1.45368013e-01 9.89377294e-01 -8.43610571e-04 -2.24655956e+01] [-6.02814165e-03 -3.30548621e-05 9.99981830e-01 -4.45777388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:-22.47, Z:-4.46 [[ 9.89385677e-01 1.45177705e-01 6.27819138e-03 1.82871319e+02] [-1.45175000e-01 9.89405596e-01 -8.86817538e-04 -2.24681519e+01] [-6.34042382e-03 -3.40318639e-05 9.99979899e-01 -4.45776211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.90, Y:-22.47, Z:-4.46 [[ 9.89417910e-01 1.44949422e-01 6.47029944e-03 1.82898326e+02] [-1.44946546e-01 9.89439065e-01 -9.13611868e-04 -2.24702381e+01] [-6.53439454e-03 -3.39036128e-05 9.99978650e-01 -4.45778627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:-22.47, Z:-4.46 [[ 9.89429962e-01 1.44840270e-01 7.04598594e-03 1.82926238e+02] [-1.44836865e-01 9.89455049e-01 -9.93871495e-04 -2.24707827e+01] [-7.11563899e-03 -3.71522755e-05 9.99974683e-01 -4.45819363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:-22.47, Z:-4.46 [[ 9.89432729e-01 1.44810493e-01 7.26601962e-03 1.82952657e+02] [-1.44806874e-01 9.89459408e-01 -1.02451273e-03 -2.24733154e+01] [-7.33779167e-03 -3.84831613e-05 9.99973077e-01 -4.45911650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:-22.48, Z:-4.46 [[ 9.89459790e-01 1.44640597e-01 6.95850750e-03 1.82979129e+02] [-1.44637277e-01 9.89484258e-01 -9.80640818e-04 -2.24760345e+01] [-7.02717410e-03 -3.61549204e-05 9.99975308e-01 -4.45994780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.01, Y:-22.48, Z:-4.46 [[ 9.89432181e-01 1.44854954e-01 6.40317369e-03 1.83006985e+02] [-1.44852151e-01 9.89452900e-01 -9.01855198e-04 -2.24778457e+01] [-6.46627697e-03 -3.51889255e-05 9.99979093e-01 -4.45996194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.03, Y:-22.48, Z:-4.46 [[ 9.89372074e-01 1.45266802e-01 6.36050735e-03 1.83034342e+02] [-1.45264046e-01 9.89392518e-01 -8.95582215e-04 -2.24800422e+01] [-6.42313675e-03 -3.78890007e-05 9.99979371e-01 -4.46085559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:-22.48, Z:-4.46 [[ 9.89179336e-01 1.46631980e-01 4.82732890e-03 1.83062947e+02] [-1.46630410e-01 9.89191115e-01 -6.79515949e-04 -2.24807560e+01] [-4.87478963e-03 -3.56700817e-05 9.99988118e-01 -4.46164264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.09, Y:-22.48, Z:-4.46 [[ 9.89033137e-01 1.47629595e-01 4.35400266e-03 1.83091183e+02] [-1.47628328e-01 9.89042720e-01 -6.12754663e-04 -2.24829593e+01] [-4.39675536e-03 -3.67394652e-05 9.99990334e-01 -4.46280281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:-22.48, Z:-4.46 [[ 9.88859080e-01 1.48793477e-01 4.26858757e-03 1.83118776e+02] [-1.48792271e-01 9.88868292e-01 -6.00483445e-04 -2.24848578e+01] [-4.31041892e-03 -4.13393314e-05 9.99990709e-01 -4.46357118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.15, Y:-22.49, Z:-4.46 [[ 9.88530648e-01 1.50946158e-01 4.73458718e-03 1.83145443e+02] [-1.50944700e-01 9.88541984e-01 -6.65714230e-04 -2.24859712e+01] [-4.78082521e-03 -5.65819249e-05 9.99988570e-01 -4.46439550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.17, Y:-22.49, Z:-4.47 [[ 9.88493873e-01 1.51196162e-01 4.42524456e-03 1.83173764e+02] [-1.51194893e-01 9.88503777e-01 -6.21685129e-04 -2.24884579e+01] [-4.46836736e-03 -5.45424379e-05 9.99990015e-01 -4.46611382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.20, Y:-22.49, Z:-4.47 [[ 9.88486493e-01 1.51227266e-01 4.97669137e-03 1.83200648e+02] [-1.51225664e-01 9.88499019e-01 -6.98801130e-04 -2.24914395e+01] [-5.02513232e-03 -6.18479791e-05 9.99987372e-01 -4.46585729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:-22.49, Z:-4.47 [[ 9.88545244e-01 1.50815299e-01 5.74851413e-03 1.83228744e+02] [-1.50813160e-01 9.88561956e-01 -8.06221938e-04 -2.24913955e+01] [-5.80435297e-03 -6.99647179e-05 9.99983152e-01 -4.46587215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.26, Y:-22.49, Z:-4.47 [[ 9.88629713e-01 1.50248912e-01 6.04601667e-03 1.83256689e+02] [-1.50246538e-01 9.88648198e-01 -8.47420826e-04 -2.24935503e+01] [-6.10470755e-03 -7.06076673e-05 9.99981364e-01 -4.46646992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.28, Y:-22.50, Z:-4.47 [[ 9.88778800e-01 1.49253772e-01 6.30843318e-03 1.83283450e+02] [-1.49251170e-01 9.88798921e-01 -8.83856576e-04 -2.24965897e+01] [-6.36969085e-03 -6.76023887e-05 9.99979711e-01 -4.46738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.31, Y:-22.50, Z:-4.47 [[ 9.89092191e-01 1.47142771e-01 6.75591272e-03 1.83311156e+02] [-1.47139744e-01 9.89115262e-01 -9.45578311e-04 -2.25010848e+01] [-6.82151140e-03 -5.87991473e-05 9.99976731e-01 -4.46832229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.34, Y:-22.50, Z:-4.47 [[ 9.89320257e-01 1.45599067e-01 6.80740754e-03 1.83338633e+02] [-1.45595961e-01 9.89343676e-01 -9.52333194e-04 -2.25046486e+01] [-6.87352442e-03 -4.89685213e-05 9.99976376e-01 -4.46888525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:-22.51, Z:-4.47 [[ 9.89575227e-01 1.43858408e-01 6.75486840e-03 1.83365180e+02] [-1.43855306e-01 9.89598281e-01 -9.45372778e-04 -2.25082942e+01] [-6.82060598e-03 -3.62061813e-05 9.99976739e-01 -4.47024832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:-22.51, Z:-4.47 [[ 9.90131021e-01 1.40011524e-01 6.11025350e-03 1.83392694e+02] [-1.40008921e-01 9.90149874e-01 -8.53743139e-04 -2.25125832e+01] [-6.16960061e-03 -1.01724350e-05 9.99980968e-01 -4.47086784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.42, Y:-22.52, Z:-4.47 [[ 9.90376634e-01 1.38267672e-01 6.01444967e-03 1.83419326e+02] [-1.38265120e-01 9.90394896e-01 -8.40144532e-04 -2.25161282e+01] [-6.07284509e-03 4.70909678e-07 9.99981560e-01 -4.47190404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:-22.52, Z:-4.47 [[ 9.90745789e-01 1.35625695e-01 5.33404166e-03 1.83445476e+02] [-1.35623651e-01 9.90760148e-01 -7.44844322e-04 -2.25206797e+01] [-5.38577593e-03 1.45291728e-05 9.99985496e-01 -4.47255180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.47, Y:-22.53, Z:-4.47 [[ 9.90892253e-01 1.34556481e-01 5.20535870e-03 1.83473226e+02] [-1.34554522e-01 9.90905925e-01 -7.26292325e-04 -2.25253410e+01] [-5.25574812e-03 1.92728872e-05 9.99986188e-01 -4.47425596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.50, Y:-22.53, Z:-4.47 [[ 9.90993634e-01 1.33787962e-01 5.69197101e-03 1.83499468e+02] [-1.33785609e-01 9.91009980e-01 -7.93819205e-04 -2.25304066e+01] [-5.74700353e-03 2.51659708e-05 9.99983486e-01 -4.47403146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.53, Y:-22.54, Z:-4.47 [[ 9.91208302e-01 1.32166987e-01 6.16354162e-03 1.83526619e+02] [-1.32164202e-01 9.91227464e-01 -8.58681437e-04 -2.25363460e+01] [-6.22296107e-03 3.65326070e-05 9.99980637e-01 -4.47460922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.55, Y:-22.54, Z:-4.48 [[ 9.91330502e-01 1.31248505e-01 6.13727782e-03 1.83553591e+02] [-1.31245728e-01 9.91349498e-01 -8.54774059e-04 -2.25411274e+01] [-6.19637511e-03 4.18720985e-05 9.99980801e-01 -4.47518077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:-22.55, Z:-4.48 [[ 9.91411727e-01 1.30639408e-01 6.01101900e-03 1.83581029e+02] [-1.30636738e-01 9.91429949e-01 -8.36457772e-04 -2.25456725e+01] [-6.06877860e-03 4.40141319e-05 9.99981584e-01 -4.47551512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.61, Y:-22.55, Z:-4.48 [[ 9.91312375e-01 1.31405905e-01 5.68011250e-03 1.83608662e+02] [-1.31403535e-01 9.91328647e-01 -7.90163339e-04 -2.25508952e+01] [-5.73469037e-03 3.69118351e-05 9.99983556e-01 -4.47595599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.64, Y:-22.56, Z:-4.48 [[ 9.91197092e-01 1.32273475e-01 5.66158164e-03 1.83635237e+02] [-1.32271135e-01 9.91213260e-01 -7.87372278e-04 -2.25550275e+01] [-5.71598326e-03 3.15772826e-05 9.99983663e-01 -4.47609004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.66, Y:-22.56, Z:-4.48 [[ 9.91061148e-01 1.33282724e-01 5.78935826e-03 1.83662575e+02] [-1.33280299e-01 9.91078057e-01 -8.04374929e-04 -2.25596508e+01] [-5.84491521e-03 2.55773419e-05 9.99982918e-01 -4.47694158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:-22.57, Z:-4.48 [[ 9.90832936e-01 1.34945010e-01 6.31964071e-03 1.83689613e+02] [-1.34942158e-01 9.90853089e-01 -8.77442988e-04 -2.25670221e+01] [-6.38024207e-03 1.66134553e-05 9.99979646e-01 -4.47803179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.72, Y:-22.57, Z:-4.48 [[ 9.90798136e-01 1.35203996e-01 6.23964318e-03 1.83717535e+02] [-1.35201224e-01 9.90817783e-01 -8.65900443e-04 -2.25729235e+01] [-6.29942263e-03 1.43251507e-05 9.99980158e-01 -4.47857939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.74, Y:-22.58, Z:-4.48 [[ 9.90799124e-01 1.35142462e-01 7.32191119e-03 1.83743996e+02] [-1.35138648e-01 9.90826178e-01 -1.01543416e-03 -2.25791631e+01] [-7.39196955e-03 1.66181032e-05 9.99972679e-01 -4.47858632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:-22.58, Z:-4.48 [[ 9.90817479e-01 1.34970132e-01 7.98671687e-03 1.83770953e+02] [-1.34965596e-01 9.90849667e-01 -1.10674326e-03 -2.25836434e+01] [-8.06301304e-03 1.86485582e-05 9.99967493e-01 -4.47894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.80, Y:-22.59, Z:-4.48 [[ 9.90857818e-01 1.34674132e-01 7.97889714e-03 1.83798080e+02] [-1.34669601e-01 9.90889942e-01 -1.10496876e-03 -2.25879413e+01] [-8.05501964e-03 2.03520415e-05 9.99967558e-01 -4.47942767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:-22.60, Z:-4.48 [[ 9.90839743e-01 1.34781237e-01 8.40373446e-03 1.83826533e+02] [-1.34776225e-01 9.90875380e-01 -1.16247886e-03 -2.25950711e+01] [-8.48373392e-03 1.92066471e-05 9.99964012e-01 -4.47952410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.85, Y:-22.60, Z:-4.48 [[ 9.90739782e-01 1.35495199e-01 8.70262035e-03 1.83854839e+02] [-1.35489856e-01 9.90778003e-01 -1.20336515e-03 -2.26009248e+01] [-8.78541501e-03 1.31049525e-05 9.99961407e-01 -4.48031843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:-22.61, Z:-4.48 [[ 9.90589934e-01 1.36594967e-01 8.56721650e-03 1.83882609e+02] [-1.36589832e-01 9.90626981e-01 -1.18441083e-03 -2.26063939e+01] [-8.64870037e-03 3.07078852e-06 9.99962599e-01 -4.48130829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.91, Y:-22.61, Z:-4.48 [[ 9.90199853e-01 1.39504129e-01 6.54596935e-03 1.83910645e+02] [-1.39501194e-01 9.90221489e-01 -9.05077084e-04 -2.26112290e+01] [-6.60822151e-03 -1.69633434e-05 9.99978165e-01 -4.48251159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:-22.61, Z:-4.48 [[ 9.89963016e-01 1.41181034e-01 6.41424745e-03 1.83938919e+02] [-1.41178254e-01 9.89983795e-01 -8.86434460e-04 -2.26145741e+01] [-6.47514877e-03 -2.80149261e-05 9.99979036e-01 -4.48383694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.97, Y:-22.62, Z:-4.48 [[ 9.89500392e-01 1.44417588e-01 5.70392911e-03 1.83966057e+02] [-1.44415441e-01 9.89516831e-01 -7.88741282e-04 -2.26159373e+01] [-5.75804197e-03 -4.32756294e-05 9.99983421e-01 -4.48490430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.99, Y:-22.62, Z:-4.49 [[ 9.89287781e-01 1.45883778e-01 5.25454667e-03 1.83994214e+02] [-1.45881982e-01 9.89301734e-01 -7.25488617e-04 -2.26186606e+01] [-5.30416915e-03 -4.88266581e-05 9.99985932e-01 -4.48575940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:-22.62, Z:-4.49 [[ 9.89157011e-01 1.46771601e-01 5.14829488e-03 1.84021868e+02] [-1.46769890e-01 9.89170407e-01 -7.10536282e-04 -2.26216394e+01] [-5.19682749e-03 -5.27827291e-05 9.99986495e-01 -4.48662192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.05, Y:-22.63, Z:-4.49 [[ 9.89166048e-01 1.46710683e-01 5.14837745e-03 1.84050104e+02] [-1.46708975e-01 9.89179444e-01 -7.09936774e-04 -2.26253985e+01] [-5.19682445e-03 -5.30678252e-05 9.99986495e-01 -4.48728786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.08, Y:-22.63, Z:-4.49 [[ 9.89049334e-01 1.47483973e-01 5.46743078e-03 1.84077288e+02] [-1.47482058e-01 9.89064444e-01 -7.53935300e-04 -2.26274820e+01] [-5.51883476e-03 -6.06687377e-05 9.99984769e-01 -4.48808221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.11, Y:-22.63, Z:-4.49 [[ 9.89170299e-01 1.46671208e-01 5.44750647e-03 1.84105638e+02] [-1.46669299e-01 9.89185298e-01 -7.50467109e-04 -2.26301740e+01] [-5.49866522e-03 -5.66421812e-05 9.99984881e-01 -4.48894133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:-22.63, Z:-4.49 [[ 9.89424462e-01 1.44933683e-01 5.78461158e-03 1.84132632e+02] [-1.44931502e-01 9.89441370e-01 -7.96579548e-04 -2.26330700e+01] [-5.83898522e-03 -5.02171571e-05 9.99982952e-01 -4.48962150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.16, Y:-22.64, Z:-4.49 [[ 9.90212777e-01 1.39384843e-01 7.10789705e-03 1.84160324e+02] [-1.39381417e-01 9.90238287e-01 -9.77580394e-04 -2.26357975e+01] [-7.17477169e-03 -2.26961659e-05 9.99974261e-01 -4.49017293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:-22.64, Z:-4.49 [[ 9.90751107e-01 1.35491430e-01 7.36991972e-03 1.84186828e+02] [-1.35487640e-01 9.90778518e-01 -1.01344968e-03 -2.26386808e+01] [-7.43927189e-03 5.54336249e-06 9.99972328e-01 -4.49074489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.22, Y:-22.64, Z:-4.49 [[ 9.91976046e-01 1.26178981e-01 7.89868935e-03 1.84215594e+02] [-1.26174346e-01 9.92007489e-01 -1.08438303e-03 -2.26437973e+01] [-7.97238534e-03 7.90700316e-05 9.99968217e-01 -4.49181914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.24, Y:-22.65, Z:-4.49 [[ 9.92594435e-01 1.21222328e-01 7.83806369e-03 1.84244314e+02] [-1.21217612e-01 9.92625374e-01 -1.07569565e-03 -2.26500458e+01] [-7.91065924e-03 1.17618149e-04 9.99968703e-01 -4.49196633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.27, Y:-22.66, Z:-4.49 [[ 9.93130920e-01 1.16748287e-01 7.79832739e-03 1.84272055e+02] [-1.16743483e-01 9.93161525e-01 -1.06987322e-03 -2.26566748e+01] [-7.86990459e-03 1.52120272e-04 9.99969020e-01 -4.49263796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.30, Y:-22.66, Z:-4.49 [[ 9.93583100e-01 1.12848787e-01 7.60095856e-03 1.84299232e+02] [-1.12844111e-01 9.93612157e-01 -1.04263314e-03 -2.26631414e+01] [-7.67006472e-03 1.78219254e-04 9.99970569e-01 -4.49289360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:-22.67, Z:-4.49 [[ 9.94241963e-01 1.06809998e-01 8.63383618e-03 1.84327625e+02] [-1.06803745e-01 9.94279417e-01 -1.18340798e-03 -2.26711655e+01] [-8.71084541e-03 2.54467833e-04 9.99962027e-01 -4.49259799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.36, Y:-22.68, Z:-4.49 [[ 9.94435191e-01 1.04907161e-01 9.65077518e-03 1.84355331e+02] [-1.04899263e-01 9.94481974e-01 -1.32235162e-03 -2.26776189e+01] [-9.73624610e-03 3.02633778e-04 9.99952556e-01 -4.49279947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:-22.69, Z:-4.49 [[ 9.94620209e-01 1.03056433e-01 1.04886782e-02 1.84383925e+02] [-1.03047014e-01 9.94675450e-01 -1.43593274e-03 -2.26880617e+01] [-1.05808128e-02 3.47380748e-04 9.99943961e-01 -4.49246554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:-22.70, Z:-4.49 [[ 9.94589707e-01 1.03342681e-01 1.05643483e-02 1.84412409e+02] [-1.03333144e-01 9.94645751e-01 -1.44604179e-03 -2.26955001e+01] [-1.06572220e-02 3.46570948e-04 9.99943150e-01 -4.49293680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.44, Y:-22.70, Z:-4.49 [[ 9.94461417e-01 1.04581990e-01 1.04450058e-02 1.84440135e+02] [-1.04572737e-01 9.94516213e-01 -1.42961124e-03 -2.27031716e+01] [-1.05372393e-02 3.29430368e-04 9.99944427e-01 -4.49376428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.47, Y:-22.72, Z:-4.49 [[ 9.94029840e-01 1.08730452e-01 9.07552390e-03 1.84468238e+02] [-1.08723642e-01 9.94071239e-01 -1.24179104e-03 -2.27150115e+01] [-9.15673779e-03 2.47653338e-04 9.99958046e-01 -4.49454786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.50, Y:-22.72, Z:-4.49 [[ 9.93713179e-01 1.11519931e-01 9.87026701e-03 1.84495821e+02] [-1.11512017e-01 9.93762168e-01 -1.35025142e-03 -2.27224320e+01] [-9.95927789e-03 2.41109252e-04 9.99950376e-01 -4.49494022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.53, Y:-22.73, Z:-4.50 [[ 9.93406345e-01 1.14229058e-01 9.77532581e-03 1.84525098e+02] [-1.14221429e-01 9.93454416e-01 -1.33703833e-03 -2.27293749e+01] [-9.86406922e-03 2.11670679e-04 9.99951326e-01 -4.49549641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:-22.74, Z:-4.50 [[ 9.92765962e-01 1.19769905e-01 8.42110523e-03 1.84553970e+02] [-1.19764443e-01 9.92801668e-01 -1.15169764e-03 -2.27402779e+01] [-8.49842603e-03 1.34817242e-04 9.99963879e-01 -4.49629819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.58, Y:-22.75, Z:-4.50 [[ 9.92502123e-01 1.22022641e-01 7.07183415e-03 1.84581982e+02] [-1.22018847e-01 9.92527312e-01 -9.67111960e-04 -2.27490507e+01] [-7.13699810e-03 9.69636239e-05 9.99974527e-01 -4.49765944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.61, Y:-22.76, Z:-4.50 [[ 9.91885462e-01 1.26853071e-01 8.45744905e-03 1.84609696e+02] [-1.26847823e-01 9.91921516e-01 -1.15624240e-03 -2.27641160e+01] [-8.53579858e-03 7.40510238e-05 9.99963567e-01 -4.49786805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.64, Y:-22.77, Z:-4.50 [[ 9.91531507e-01 1.29591868e-01 8.43914801e-03 1.84637945e+02] [-1.29586743e-01 9.91567418e-01 -1.15355905e-03 -2.27718257e+01] [-8.51747608e-03 5.01884404e-05 9.99963724e-01 -4.49787456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:-22.78, Z:-4.50 [[ 9.91115500e-01 1.32770966e-01 7.86993609e-03 1.84666978e+02] [-1.32766611e-01 9.91146745e-01 -1.07556580e-03 -2.27792097e+01] [-7.94306545e-03 2.11451955e-05 9.99968453e-01 -4.49797092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.70, Y:-22.79, Z:-4.50 [[ 9.90001363e-01 1.40834844e-01 7.92766943e-03 1.84695202e+02] [-1.40830681e-01 9.90033103e-01 -1.08362664e-03 -2.27888071e+01] [-8.00126755e-03 -4.36672372e-05 9.99967988e-01 -4.49804401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.72, Y:-22.79, Z:-4.50 [[ 9.89363490e-01 1.45237810e-01 8.11560911e-03 1.84723257e+02] [-1.45233600e-01 9.89396772e-01 -1.10890019e-03 -2.27942935e+01] [-8.19061169e-03 -8.15537657e-05 9.99966453e-01 -4.49865263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:-22.80, Z:-4.50 [[ 9.88661823e-01 1.49941674e-01 8.08046097e-03 1.84750854e+02] [-1.49937659e-01 9.88694837e-01 -1.10388994e-03 -2.27999075e+01] [-8.15462915e-03 -1.20191564e-04 9.99966743e-01 -4.49929819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.78, Y:-22.81, Z:-4.50 [[ 9.87420648e-01 1.57915520e-01 7.94687011e-03 1.84778928e+02] [-1.57911899e-01 9.87452609e-01 -1.08501829e-03 -2.28073167e+01] [-8.01849885e-03 -1.83535887e-04 9.99967834e-01 -4.49999525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:-22.81, Z:-4.50 [[ 9.86870488e-01 1.61295987e-01 8.38123008e-03 1.84807375e+02] [-1.61292085e-01 9.86906052e-01 -1.14387741e-03 -2.28116517e+01] [-8.45598952e-03 -2.22967221e-04 9.99964223e-01 -4.50050465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.84, Y:-22.81, Z:-4.50 [[ 9.86077970e-01 1.66081855e-01 8.18872498e-03 1.84835241e+02] [-1.66078296e-01 9.86111936e-01 -1.11739949e-03 -2.28147614e+01] [-8.26057923e-03 -2.58126473e-04 9.99965848e-01 -4.50196047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:-22.82, Z:-4.50 [[ 9.85947694e-01 1.66887694e-01 7.45938535e-03 1.84863317e+02] [-1.66884769e-01 9.85975882e-01 -1.01732972e-03 -2.28186354e+01] [-7.52455386e-03 -2.41823909e-04 9.99971661e-01 -4.50254500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:-22.82, Z:-4.50 [[ 9.85923971e-01 1.67016304e-01 7.71212093e-03 1.84891558e+02] [-1.67013184e-01 9.85954102e-01 -1.05139802e-03 -2.28225202e+01] [-7.77939788e-03 -2.51427360e-04 9.99969708e-01 -4.50336225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:-22.83, Z:-4.50 [[ 9.86072343e-01 1.66101585e-01 8.46160080e-03 1.84920399e+02] [-1.66097800e-01 9.86108610e-01 -1.15306154e-03 -2.28254396e+01] [-8.53558275e-03 -2.68451183e-04 9.99963535e-01 -4.50388510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-22.83, Z:-4.50 [[ 9.86286718e-01 1.64831671e-01 8.30842980e-03 1.84948983e+02] [-1.64827979e-01 9.86321680e-01 -1.13182404e-03 -2.28285989e+01] [-8.38134489e-03 -2.53158674e-04 9.99964844e-01 -4.50475790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:-22.83, Z:-4.51 [[ 9.86496342e-01 1.63575519e-01 8.24719827e-03 1.84976471e+02] [-1.63571840e-01 9.86530786e-01 -1.12326625e-03 -2.28312912e+01] [-8.31985385e-03 -2.40911353e-04 9.99965360e-01 -4.50568149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:-22.83, Z:-4.51 [[ 9.86954257e-01 1.60813232e-01 7.77164526e-03 1.85005799e+02] [-1.60809883e-01 9.86984834e-01 -1.05791713e-03 -2.28314096e+01] [-7.84062308e-03 -2.05641556e-04 9.99969241e-01 -4.50598263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:-22.83, Z:-4.51 [[ 9.87180316e-01 1.59434651e-01 7.45761595e-03 1.85033342e+02] [-1.59431529e-01 9.87208467e-01 -1.01503423e-03 -2.28330199e+01] [-7.52405323e-03 -1.86957306e-04 9.99971676e-01 -4.50702694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:-22.84, Z:-4.51 [[ 9.87732900e-01 1.56002937e-01 6.84117116e-03 1.85062288e+02] [-1.56000232e-01 9.87756580e-01 -9.30600215e-04 -2.28358845e+01] [-6.90258820e-03 -1.48039838e-04 9.99976166e-01 -4.50739446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:-22.84, Z:-4.51 [[ 9.88056825e-01 1.53929937e-01 7.02038071e-03 1.85090695e+02] [-1.53927038e-01 9.88081756e-01 -9.54621592e-04 -2.28389750e+01] [-7.08365493e-03 -1.37406030e-04 9.99974901e-01 -4.50767364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:-22.84, Z:-4.51 [[ 9.88301692e-01 1.52332533e-01 7.38676950e-03 1.85119826e+02] [-1.52329282e-01 9.88329288e-01 -1.00403505e-03 -2.28414383e+01] [-7.45350784e-03 -1.32931758e-04 9.99972213e-01 -4.50798237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-22.84, Z:-4.51 [[ 9.88541556e-01 1.50785523e-01 7.02266015e-03 1.85147383e+02] [-1.50782546e-01 9.88566494e-01 -9.54452938e-04 -2.28430535e+01] [-7.08628420e-03 -1.15378184e-04 9.99974885e-01 -4.50801136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.18, Y:-22.85, Z:-4.51 [[ 9.89024989e-01 1.47645875e-01 5.50156481e-03 1.85176574e+02] [-1.47644001e-01 9.89040288e-01 -7.47479657e-04 -2.28451849e+01] [-5.55163153e-03 -7.29969788e-05 9.99984587e-01 -4.50933778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:-22.85, Z:-4.51 [[ 9.89244680e-01 1.46176996e-01 5.21999528e-03 1.85204834e+02] [-1.46175289e-01 9.89258451e-01 -7.09027562e-04 -2.28486957e+01] [-5.26756796e-03 -6.16325739e-05 9.99986124e-01 -4.51015624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.23, Y:-22.85, Z:-4.51 [[ 9.89526370e-01 1.44254140e-01 5.32029040e-03 1.85233359e+02] [-1.44252341e-01 9.89540671e-01 -7.22423531e-04 -2.28524104e+01] [-5.36885632e-03 -5.26072080e-05 9.99985586e-01 -4.51041369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:-22.86, Z:-4.51 [[ 9.89593940e-01 1.43760877e-01 6.05345931e-03 1.85260563e+02] [-1.43758540e-01 9.89612453e-01 -8.21726459e-04 -2.28560149e+01] [-6.10871083e-03 -5.70609478e-05 9.99981340e-01 -4.51052750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:-22.86, Z:-4.51 [[ 9.89603836e-01 1.43672380e-01 6.51877456e-03 1.85289533e+02] [-1.43669672e-01 9.89625305e-01 -8.84174068e-04 -2.28597613e+01] [-6.57817565e-03 -6.15681533e-05 9.99978362e-01 -4.51035525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.32, Y:-22.86, Z:-4.51 [[ 9.89537117e-01 1.44068933e-01 7.77409715e-03 1.85317206e+02] [-1.44065098e-01 9.89567651e-01 -1.05401381e-03 -2.28625318e+01] [-7.84484570e-03 -7.69902772e-05 9.99969226e-01 -4.51174335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.35, Y:-22.87, Z:-4.51 [[ 9.89430398e-01 1.44770091e-01 8.31313465e-03 1.85346085e+02] [-1.44765737e-01 9.89465317e-01 -1.12627617e-03 -2.28665426e+01] [-8.38860951e-03 -8.90851879e-05 9.99964811e-01 -4.51164998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:-22.87, Z:-4.51 [[ 9.89301732e-01 1.45657451e-01 8.12340698e-03 1.85373803e+02] [-1.45653325e-01 9.89335079e-01 -1.10045116e-03 -2.28701193e+01] [-8.19706040e-03 -9.45229971e-05 9.99966399e-01 -4.51217503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:-22.87, Z:-4.51 [[ 9.88884604e-01 1.48492831e-01 7.55768713e-03 1.85403001e+02] [-1.48489347e-01 9.88913478e-01 -1.02316750e-03 -2.28726727e+01] [-7.62583170e-03 -1.10441438e-04 9.99970917e-01 -4.51231891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.43, Y:-22.88, Z:-4.51 [[ 9.88638332e-01 1.50135186e-01 7.32627907e-03 1.85431943e+02] [-1.50131960e-01 9.88665470e-01 -9.91520050e-04 -2.28751695e+01] [-7.39210119e-03 -1.19653907e-04 9.99972671e-01 -4.51320927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.46, Y:-22.88, Z:-4.51 [[ 9.88389923e-01 1.51836109e-01 5.58169308e-03 1.85460144e+02] [-1.51834262e-01 9.88405679e-01 -7.55698454e-04 -2.28771876e+01] [-5.63171945e-03 -1.00567512e-04 9.99984137e-01 -4.51422061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.49, Y:-22.88, Z:-4.52 [[ 9.88383732e-01 1.51891815e-01 5.14539816e-03 1.85489155e+02] [-1.51890248e-01 9.88397121e-01 -6.96128355e-04 -2.28805248e+01] [-5.19143293e-03 -9.34938621e-05 9.99986520e-01 -4.51536902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:-22.88, Z:-4.52 [[ 9.88472296e-01 1.51308846e-01 5.30603418e-03 1.85516905e+02] [-1.51307173e-01 9.88486532e-01 -7.17780102e-04 -2.28837530e+01] [-5.35354981e-03 -9.33352836e-05 9.99985665e-01 -4.51614717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.55, Y:-22.89, Z:-4.52 [[ 9.88658134e-01 1.50094812e-01 5.16154099e-03 1.85545664e+02] [-1.50093215e-01 9.88671604e-01 -6.97751022e-04 -2.28876468e+01] [-5.20779782e-03 -8.48750560e-05 9.99986436e-01 -4.51640075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.57, Y:-22.89, Z:-4.52 [[ 9.88842931e-01 1.48869889e-01 5.23590404e-03 1.85574509e+02] [-1.48868229e-01 9.88856789e-01 -7.07530300e-04 -2.28923237e+01] [-5.28288922e-03 -7.98234298e-05 9.99986042e-01 -4.51708985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:-22.90, Z:-4.52 [[ 9.89017023e-01 1.47718001e-01 4.97195611e-03 1.85602335e+02] [-1.47716490e-01 9.89029518e-01 -6.71893472e-04 -2.28974574e+01] [-5.01666211e-03 -6.99258202e-05 9.99987414e-01 -4.51712221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.63, Y:-22.90, Z:-4.52 [[ 9.89288231e-01 1.45921761e-01 3.95410752e-03 1.85629245e+02] [-1.45920792e-01 9.89296132e-01 -5.34138549e-04 -2.29032560e+01] [-3.98972572e-03 -4.85695196e-05 9.99992040e-01 -4.51822460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:-22.91, Z:-4.52 [[ 9.89421987e-01 1.45012566e-01 3.93535739e-03 1.85657206e+02] [-1.45011599e-01 9.89429812e-01 -5.31419821e-04 -2.29084496e+01] [-3.97082248e-03 -4.48740131e-05 9.99992115e-01 -4.51936667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:-22.91, Z:-4.52 [[ 9.89452499e-01 1.44798945e-01 4.12520549e-03 1.85685374e+02] [-1.44797882e-01 9.89461097e-01 -5.56801106e-04 -2.29125747e+01] [-4.16235456e-03 -4.63927701e-05 9.99991336e-01 -4.51997906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-22.92, Z:-4.52 [[ 9.89432872e-01 1.44931904e-01 4.16354622e-03 1.85713883e+02] [-1.44930823e-01 9.89441631e-01 -5.61767482e-04 -2.29161681e+01] [-4.20100399e-03 -4.75949690e-05 9.99991175e-01 -4.52014031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-22.92, Z:-4.52 [[ 9.89365867e-01 1.45380459e-01 4.43885865e-03 1.85742746e+02] [-1.45379236e-01 9.89375823e-01 -5.98622070e-04 -2.29193648e+01] [-4.47872738e-03 -5.30616382e-05 9.99989969e-01 -4.52100848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.77, Y:-22.92, Z:-4.52 [[ 9.89161769e-01 1.46746091e-01 4.95785634e-03 1.85770255e+02] [-1.46744584e-01 9.89174191e-01 -6.68455687e-04 -2.29231001e+01] [-5.00227679e-03 -6.63277547e-05 9.99987486e-01 -4.52234937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:-22.93, Z:-4.52 [[ 9.89031497e-01 1.47631059e-01 4.66563240e-03 1.85798456e+02] [-1.47629736e-01 9.89042500e-01 -6.28675766e-04 -2.29280714e+01] [-4.70732080e-03 -6.70059459e-05 9.99988918e-01 -4.52297196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.83, Y:-22.93, Z:-4.52 [[ 9.89036869e-01 1.47595065e-01 4.66569345e-03 1.85827529e+02] [-1.47593743e-01 9.89047872e-01 -6.28221972e-04 -2.29318973e+01] [-4.70731664e-03 -6.72924684e-05 9.99988918e-01 -4.52365740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.85, Y:-22.94, Z:-4.52 [[ 9.88638951e-01 1.50226324e-01 5.00751697e-03 1.85854644e+02] [-1.50224834e-01 9.88651629e-01 -6.74441670e-04 -2.29360113e+01] [-5.05200871e-03 -8.54741021e-05 9.99987235e-01 -4.52433356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:-22.94, Z:-4.52 [[ 9.88338640e-01 1.52162061e-01 5.78273082e-03 1.85883890e+02] [-1.52160112e-01 9.88355551e-01 -7.78050414e-04 -2.29384220e+01] [-5.83378386e-03 -1.10923682e-04 9.99982977e-01 -4.52448337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:-22.94, Z:-4.52 [[ 9.88014299e-01 1.54229226e-01 6.41026686e-03 1.85913133e+02] [-1.54226878e-01 9.88035084e-01 -8.62068239e-04 -2.29400828e+01] [-6.46652467e-03 -1.36899696e-04 9.99979082e-01 -4.52494649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.94, Y:-22.94, Z:-4.53 [[ 9.87333155e-01 1.58547526e-01 5.99352876e-03 1.85941326e+02] [-1.58545552e-01 9.87351335e-01 -8.06007778e-04 -2.29395625e+01] [-6.04550916e-03 -1.54449126e-04 9.99981714e-01 -4.52570817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:-22.94, Z:-4.53 [[ 9.87019944e-01 1.60512315e-01 5.23701560e-03 1.85970006e+02] [-1.60510837e-01 9.87033827e-01 -7.03909752e-04 -2.29414742e+01] [-5.28209773e-03 -1.45824795e-04 9.99986039e-01 -4.52619468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.00, Y:-22.94, Z:-4.53 [[ 9.86712337e-01 1.62402684e-01 4.91241940e-03 1.85997877e+02] [-1.62401407e-01 9.86724555e-01 -6.60419218e-04 -2.29436059e+01] [-4.95445870e-03 -1.46140033e-04 9.99987716e-01 -4.52686928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.03, Y:-22.94, Z:-4.53 [[ 9.86305191e-01 1.64861848e-01 4.75819700e-03 1.86025571e+02] [-1.64860679e-01 9.86316657e-01 -6.39556271e-04 -2.29447067e+01] [-4.79852739e-03 -1.53641917e-04 9.99988475e-01 -4.52822163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:-22.95, Z:-4.53 [[ 9.86252352e-01 1.65168803e-01 5.05606257e-03 1.86052756e+02] [-1.65167489e-01 9.86265299e-01 -6.79323235e-04 -2.29468404e+01] [-5.09882206e-03 -1.65113018e-04 9.99986987e-01 -4.52816657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:-22.94, Z:-4.53 [[ 9.86450351e-01 1.63917553e-01 6.83674248e-03 1.86081168e+02] [-1.63915129e-01 9.86474019e-01 -9.17131193e-04 -2.29445003e+01] [-6.89460273e-03 -2.15941143e-04 9.99976209e-01 -4.52881371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.11, Y:-22.94, Z:-4.53 [[ 9.86716476e-01 1.62273183e-01 7.61645766e-03 1.86108948e+02] [-1.62270134e-01 9.86745845e-01 -1.02076163e-03 -2.29442896e+01] [-7.68115018e-03 -2.28721286e-04 9.99970473e-01 -4.52970410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:-22.95, Z:-4.53 [[ 9.87112210e-01 1.59848543e-01 7.61111496e-03 1.86137350e+02] [-1.59845429e-01 9.87141529e-01 -1.01970105e-03 -2.29453685e+01] [-7.67624539e-03 -2.10042574e-04 9.99970515e-01 -4.53073357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.17, Y:-22.95, Z:-4.53 [[ 9.87988301e-01 1.54393365e-01 6.46571577e-03 1.86165414e+02] [-1.54391003e-01 9.88009448e-01 -8.65841591e-04 -2.29470645e+01] [-6.52186846e-03 -1.42806981e-04 9.99978722e-01 -4.53262104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.19, Y:-22.95, Z:-4.53 [[ 9.88414534e-01 1.51645864e-01 6.34363974e-03 1.86194009e+02] [-1.51643537e-01 9.88434883e-01 -8.49016025e-04 -2.29497472e+01] [-6.39902457e-03 -1.22792186e-04 9.99979518e-01 -4.53357181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:-22.95, Z:-4.53 [[ 9.88749167e-01 1.49450301e-01 6.30019414e-03 1.86222822e+02] [-1.49447964e-01 9.88769233e-01 -8.42690105e-04 -2.29520502e+01] [-6.35537841e-03 -1.08342047e-04 9.99979799e-01 -4.53419356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:-22.95, Z:-4.53 [[ 9.89107670e-01 1.47078678e-01 5.82055958e-03 1.86250809e+02] [-1.47076641e-01 9.89124792e-01 -7.78817259e-04 -2.29528097e+01] [-5.87180720e-03 -8.57342276e-05 9.99982757e-01 -4.53455157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.28, Y:-22.95, Z:-4.54 [[ 9.89198608e-01 1.46483706e-01 5.35144981e-03 1.86278797e+02] [-1.46481976e-01 9.89213080e-01 -7.15955446e-04 -2.29536873e+01] [-5.39859996e-03 -7.56688106e-05 9.99985425e-01 -4.53501855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:-22.95, Z:-4.54 [[ 9.89258016e-01 1.46093146e-01 5.03683088e-03 1.86307347e+02] [-1.46091609e-01 9.89270836e-01 -6.73706744e-04 -2.29500005e+01] [-5.08121383e-03 -6.93689313e-05 9.99987088e-01 -4.53534599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:-22.95, Z:-4.54 [[ 9.89280694e-01 1.45948398e-01 4.77206010e-03 1.86334616e+02] [-1.45947017e-01 9.89292202e-01 -6.38246014e-04 -2.29510027e+01] [-4.81411283e-03 -6.50634786e-05 9.99988410e-01 -4.53604316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382200002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:186.36, Y:-22.95, Z:-4.54 [[ 9.89360237e-01 1.45414458e-01 4.57792467e-03 1.86362969e+02] [-1.45413184e-01 9.89370826e-01 -6.11754993e-04 -2.29526303e+01] [-4.61822313e-03 -6.04445365e-05 9.99989334e-01 -4.53762901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:-22.95, Z:-4.54 [[ 9.89564430e-01 1.44011619e-01 4.78467990e-03 1.86390480e+02] [-1.44010212e-01 9.89575995e-01 -6.39169566e-04 -2.29513904e+01] [-4.82685222e-03 -5.65432982e-05 9.99988349e-01 -4.53716458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.42, Y:-22.95, Z:-4.54 [[ 9.89648965e-01 1.43432811e-01 4.68553328e-03 1.86417949e+02] [-1.43431455e-01 9.89660056e-01 -6.25851520e-04 -2.29528407e+01] [-4.72685277e-03 -5.26795481e-05 9.99988827e-01 -4.53809086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:-22.95, Z:-4.54 [[ 9.89844406e-01 1.42086171e-01 4.42413415e-03 1.86446135e+02] [-1.42084953e-01 9.89854291e-01 -5.90020928e-04 -2.29536492e+01] [-4.46308199e-03 -4.45739767e-05 9.99990039e-01 -4.53890066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:-22.95, Z:-4.54 [[ 9.89967860e-01 1.41203761e-01 5.01335590e-03 1.86472936e+02] [-1.41202188e-01 9.89980553e-01 -6.68223249e-04 -2.29548172e+01] [-5.05748049e-03 -4.63772816e-05 9.99987210e-01 -4.53934482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.50, Y:-22.96, Z:-4.54 [[ 9.90058883e-01 1.40531116e-01 5.86625126e-03 1.86501464e+02] [-1.40528956e-01 9.90076261e-01 -7.80885890e-04 -2.29560577e+01] [-5.91777488e-03 -5.12551533e-05 9.99982489e-01 -4.53993384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.53, Y:-22.96, Z:-4.54 [[ 9.90270662e-01 1.39033936e-01 5.79484016e-03 1.86530228e+02] [-1.39031805e-01 9.90287616e-01 -7.71030956e-04 -2.29555525e+01] [-5.84575792e-03 -4.21377491e-05 9.99982913e-01 -4.54052575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:-22.96, Z:-4.54 [[ 9.90369634e-01 1.38325477e-01 5.83534445e-03 1.86556681e+02] [-1.38323302e-01 9.90386824e-01 -7.76678482e-04 -2.29575388e+01] [-5.88668268e-03 -3.79653286e-05 9.99982673e-01 -4.54168717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.59, Y:-22.96, Z:-4.54 [[ 9.90532857e-01 1.37129904e-01 6.32832549e-03 1.86585161e+02] [-1.37127332e-01 9.90553072e-01 -8.40608083e-04 -2.29567935e+01] [-6.38381476e-03 -3.51364644e-05 9.99979623e-01 -4.54260542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.61, Y:-22.96, Z:-4.54 [[ 9.90592345e-01 1.36695775e-01 6.40874677e-03 1.86612892e+02] [-1.36693131e-01 9.90613075e-01 -8.50836584e-04 -2.29582542e+01] [-6.46489411e-03 -3.31994574e-05 9.99979102e-01 -4.54293700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:-22.96, Z:-4.54 [[ 9.90611740e-01 1.36566944e-01 6.15226289e-03 1.86641029e+02] [-1.36564507e-01 9.90630844e-01 -8.16400224e-04 -2.29599169e+01] [-6.20611466e-03 -3.14451036e-05 9.99980741e-01 -4.54367554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.67, Y:-22.96, Z:-4.54 [[ 9.90636047e-01 1.36397213e-01 6.00195568e-03 1.86668776e+02] [-1.36394893e-01 9.90654228e-01 -7.96056313e-04 -2.29610007e+01] [-6.05444263e-03 -3.00340232e-05 9.99981671e-01 -4.54441392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.70, Y:-22.96, Z:-4.55 [[ 9.90606194e-01 1.36607648e-01 6.14155842e-03 1.86695677e+02] [-1.36605221e-01 9.90625232e-01 -8.14798249e-04 -2.29637827e+01] [-6.19529041e-03 -3.18247554e-05 9.99980808e-01 -4.54515057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:-22.96, Z:-4.55 [[ 9.90532911e-01 1.37120428e-01 6.52223258e-03 1.86723790e+02] [-1.37117714e-01 9.90554384e-01 -8.63616973e-04 -2.29641206e+01] [-6.57904560e-03 -3.88725860e-05 9.99978357e-01 -4.54500542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:-22.97, Z:-4.55 [[ 9.90470395e-01 1.37570939e-01 6.52949132e-03 1.86751711e+02] [-1.37568232e-01 9.90491916e-01 -8.64097862e-04 -2.29652235e+01] [-6.58628312e-03 -4.23872257e-05 9.99978309e-01 -4.54537304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.78, Y:-22.97, Z:-4.55 [[ 9.90378592e-01 1.38231360e-01 6.50664639e-03 1.86780090e+02] [-1.38228688e-01 9.90399964e-01 -8.60642085e-04 -2.29659715e+01] [-6.56315007e-03 -4.70437007e-05 9.99978461e-01 -4.54611324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:-22.96, Z:-4.55 [[ 9.90165159e-01 1.39752432e-01 6.49740936e-03 1.86807992e+02] [-1.39749803e-01 9.90186475e-01 -8.59138637e-04 -2.29633450e+01] [-6.55371359e-03 -5.73225323e-05 9.99978523e-01 -4.54693709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.84, Y:-22.97, Z:-4.55 [[ 9.90063011e-01 1.40455245e-01 6.89626750e-03 1.86835970e+02] [-1.40452306e-01 9.90087026e-01 -9.10939297e-04 -2.29654545e+01] [-6.95585118e-03 -6.67093725e-05 9.99975806e-01 -4.54827586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.86, Y:-22.97, Z:-4.55 [[ 9.89870347e-01 1.41783840e-01 7.35116757e-03 1.86863061e+02] [-1.41780542e-01 9.89897639e-01 -9.70556133e-04 -2.29657665e+01] [-7.41451259e-03 -8.15277848e-05 9.99972509e-01 -4.54866378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:-22.97, Z:-4.55 [[ 9.89875284e-01 1.41763295e-01 7.07741667e-03 1.86890937e+02] [-1.41760242e-01 9.89900582e-01 -9.33691611e-04 -2.29667625e+01] [-7.13830208e-03 -7.90580541e-05 9.99974519e-01 -4.54927457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.92, Y:-22.97, Z:-4.55 [[ 9.89934419e-01 1.41363936e-01 6.78852086e-03 1.86918215e+02] [-1.41361115e-01 9.89957692e-01 -8.96020033e-04 -2.29682998e+01] [-6.84701336e-03 -7.26318074e-05 9.99976556e-01 -4.55035974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:-22.97, Z:-4.55 [[ 9.90251042e-01 1.39145153e-01 6.44201862e-03 1.86946857e+02] [-1.39142576e-01 9.90271995e-01 -8.48686340e-04 -2.29679086e+01] [-6.49744122e-03 -5.59465323e-05 9.99978890e-01 -4.55112686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:-22.97, Z:-4.55 [[ 9.90461210e-01 1.37628354e-01 6.71021117e-03 1.86974000e+02] [-1.37625525e-01 9.90483939e-01 -8.83654245e-04 -2.29685568e+01] [-6.76797228e-03 -4.82710846e-05 9.99977096e-01 -4.55215574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:-22.97, Z:-4.55 [[ 9.90705565e-01 1.35855953e-01 6.75601332e-03 1.87002510e+02] [-1.35853050e-01 9.90728600e-01 -8.88961188e-04 -2.29699366e+01] [-6.81414629e-03 -3.71262180e-05 9.99976783e-01 -4.55262773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.03, Y:-22.97, Z:-4.55 [[ 9.91091564e-01 1.32977931e-01 7.37438920e-03 1.87029791e+02] [-1.32974396e-01 9.91118999e-01 -9.69807258e-04 -2.29721785e+01] [-7.43786020e-03 -1.94371551e-05 9.99972339e-01 -4.55496466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-22.97, Z:-4.55 [[ 9.91242018e-01 1.31900325e-01 6.44716734e-03 1.87057521e+02] [-1.31897604e-01 9.91262984e-01 -8.47356862e-04 -2.29749198e+01] [-6.50260499e-03 -1.04301988e-05 9.99978858e-01 -4.55478159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:-22.98, Z:-4.56 [[ 9.91556554e-01 1.29574963e-01 5.09209746e-03 1.87084960e+02] [-1.29573234e-01 9.91569629e-01 -6.69453740e-04 -2.29755227e+01] [-5.13591364e-03 4.00170661e-06 9.99986811e-01 -4.55642435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.11, Y:-22.98, Z:-4.56 [[ 9.91749156e-01 1.28090476e-01 5.14210447e-03 1.87113280e+02] [-1.28088696e-01 9.91762487e-01 -6.75335396e-04 -2.29774519e+01] [-5.18625035e-03 1.11178536e-05 9.99986551e-01 -4.55697878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:-22.98, Z:-4.56 [[ 9.91896097e-01 1.26926832e-01 5.63138025e-03 1.87139874e+02] [-1.26924681e-01 9.91912082e-01 -7.39229651e-04 -2.29791273e+01] [-5.67966219e-03 1.84778659e-05 9.99983870e-01 -4.55797009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:-22.98, Z:-4.56 [[ 9.92295493e-01 1.23722973e-01 6.50241449e-03 1.87167564e+02] [-1.23720043e-01 9.92316796e-01 -8.52524350e-04 -2.29813854e+01] [-6.55793196e-03 4.14770719e-05 9.99978496e-01 -4.55833296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:-22.99, Z:-4.56 [[ 9.92539622e-01 1.21704075e-01 7.29496071e-03 1.87194974e+02] [-1.21700337e-01 9.92566428e-01 -9.55709097e-04 -2.29851689e+01] [-7.35704679e-03 6.07799659e-05 9.99972935e-01 -4.55829347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:187.22, Y:-22.99, Z:-4.56 [[ 9.92765244e-01 1.19791322e-01 8.19808733e-03 1.87222105e+02] [-1.19786538e-01 9.92799090e-01 -1.07384108e-03 -2.29885487e+01] [-8.26769048e-03 8.40516014e-05 9.99965819e-01 -4.55816935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:187.25, Y:-22.99, Z:-4.56 [[ 9.93272044e-01 1.15375482e-01 9.95710668e-03 1.87249991e+02] [-1.15368226e-01 9.93321940e-01 -1.30197631e-03 -2.29914969e+01] [-1.00408287e-02 1.44482935e-04 9.99949579e-01 -4.55974876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-23.00, Z:-4.56 [[ 9.93526843e-01 1.13171940e-01 9.82472239e-03 1.87278666e+02] [-1.13164778e-01 9.93575405e-01 -1.28366515e-03 -2.29960633e+01] [-9.90687741e-03 1.63543259e-04 9.99950912e-01 -4.55891637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:187.31, Y:-23.00, Z:-4.56 [[ 9.93733780e-01 1.11274635e-01 1.05417827e-02 1.87305969e+02] [-1.11266287e-01 9.93789675e-01 -1.37692055e-03 -2.30016714e+01] [-1.06295311e-02 1.95347442e-04 9.99943486e-01 -4.56130813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.33, Y:-23.01, Z:-4.56 [[ 9.93986934e-01 1.08965582e-01 1.07924096e-02 1.87332720e+02] [-1.08956704e-01 9.94045498e-01 -1.40897141e-03 -2.30087504e+01] [-1.08816756e-02 2.24593786e-04 9.99940768e-01 -4.56003138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.36, Y:-23.01, Z:-4.56 [[ 9.94068237e-01 1.08231169e-01 1.06936718e-02 1.87361064e+02] [-1.08222418e-01 9.94125727e-01 -1.39532547e-03 -2.30144154e+01] [-1.07818719e-02 2.29753706e-04 9.99941848e-01 -4.56092253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:187.39, Y:-23.02, Z:-4.56 [[ 9.94104949e-01 1.07921129e-01 1.04105826e-02 1.87389517e+02] [-1.07912823e-01 9.94159433e-01 -1.35794606e-03 -2.30208120e+01] [-1.04963299e-02 2.26505543e-04 9.99944886e-01 -4.56356435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964203822 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:187.42, Y:-23.03, Z:-4.57 [[ 9.94053835e-01 1.08475484e-01 9.48904140e-03 1.87417783e+02] [-1.08468612e-01 9.94099104e-01 -1.23739884e-03 -2.30302132e+01] [-9.56727499e-03 2.00777911e-04 9.99954212e-01 -4.56533900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.44, Y:-23.04, Z:-4.56 [[ 9.93955445e-01 1.09428073e-01 8.83577107e-03 1.87444812e+02] [-1.09422154e-01 9.93994701e-01 -1.15203012e-03 -2.30354757e+01] [-8.90877405e-03 1.78237509e-04 9.99960300e-01 -4.56488434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:-23.04, Z:-4.57 [[ 9.93636671e-01 1.12357367e-01 7.87324851e-03 1.87471754e+02] [-1.12352761e-01 9.93667854e-01 -1.02639111e-03 -2.30423399e+01] [-7.93871655e-03 1.35278638e-04 9.99968479e-01 -4.56555542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:-23.05, Z:-4.57 [[ 9.93448899e-01 1.14026272e-01 7.56924151e-03 1.87499429e+02] [-1.14022067e-01 9.93477728e-01 -9.86280633e-04 -2.30484294e+01] [-7.63233477e-03 1.16758848e-04 9.99970866e-01 -4.56623508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:-23.05, Z:-4.57 [[ 9.93262155e-01 1.15676084e-01 7.02392940e-03 1.87526460e+02] [-1.15672508e-01 9.93286985e-01 -9.14649262e-04 -2.30548501e+01] [-7.08258071e-03 9.60109671e-05 9.99974914e-01 -4.56673811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:-23.06, Z:-4.57 [[ 9.92833073e-01 1.19346689e-01 6.23346398e-03 1.87552953e+02] [-1.19343946e-01 9.92852640e-01 -8.11541891e-04 -2.30648106e+01] [-6.28576600e-03 6.17994400e-05 9.99980242e-01 -4.56784042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:-23.07, Z:-4.57 [[ 9.92567134e-01 1.21546485e-01 6.07760585e-03 1.87579871e+02] [-1.21543920e-01 9.92585739e-01 -7.90911868e-04 -2.30714289e+01] [-6.12867745e-03 4.63370850e-05 9.99981218e-01 -4.56884213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.61, Y:-23.07, Z:-4.57 [[ 9.92574369e-01 1.21487385e-01 6.07765628e-03 1.87608134e+02] [-1.21484822e-01 9.92592975e-01 -7.90523906e-04 -2.30749715e+01] [-6.12867760e-03 4.63107744e-05 9.99981218e-01 -4.56950806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-23.08, Z:-4.57 [[ 9.92305773e-01 1.23655740e-01 6.20562543e-03 1.87635454e+02] [-1.23653112e-01 9.92325177e-01 -8.06990147e-04 -2.30809329e+01] [-6.25778732e-03 3.34360886e-05 9.99980419e-01 -4.57015032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:-23.09, Z:-4.57 [[ 9.91688295e-01 1.28433210e-01 7.69655755e-03 1.87662221e+02] [-1.28429317e-01 9.91718161e-01 -1.00007675e-03 -2.30867008e+01] [-7.76125897e-03 3.30078234e-06 9.99969881e-01 -4.57014065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:-23.09, Z:-4.57 [[ 9.91384592e-01 1.30727956e-01 8.17269527e-03 1.87689428e+02] [-1.30723652e-01 9.91418278e-01 -1.06091602e-03 -2.30911151e+01] [-8.24125085e-03 -1.65887746e-05 9.99966040e-01 -4.57039631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:-23.10, Z:-4.57 [[ 9.90842305e-01 1.34766206e-01 8.34242014e-03 1.87716853e+02] [-1.34761870e-01 9.90877423e-01 -1.08230742e-03 -2.30981307e+01] [-8.41217423e-03 -5.18441538e-05 9.99964616e-01 -4.57140599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:-23.10, Z:-4.57 [[ 9.90573359e-01 1.36712683e-01 8.60599108e-03 1.87744642e+02] [-1.36708148e-01 9.90610740e-01 -1.11588252e-03 -2.31028328e+01] [-8.67774248e-03 -7.11456023e-05 9.99962345e-01 -4.57247593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.77, Y:-23.11, Z:-4.57 [[ 9.90332265e-01 1.38457417e-01 8.45863051e-03 1.87771801e+02] [-1.38453106e-01 9.90368384e-01 -1.09598194e-03 -2.31071677e+01] [-8.52890705e-03 -8.57373884e-05 9.99963625e-01 -4.57329278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:-23.11, Z:-4.58 [[ 9.89998630e-01 1.40867035e-01 7.69352068e-03 1.87799098e+02] [-1.40863542e-01 9.90028519e-01 -9.96693911e-04 -2.31129352e+01] [-7.75720621e-03 -9.70109702e-05 9.99969908e-01 -4.57514640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:-23.12, Z:-4.58 [[ 9.89974903e-01 1.41011841e-01 8.08403848e-03 1.87825944e+02] [-1.41007994e-01 9.90007904e-01 -1.04677851e-03 -2.31174549e+01] [-8.15087016e-03 -1.03629597e-04 9.99966776e-01 -4.57624643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:-23.12, Z:-4.58 [[ 9.90267811e-01 1.38924691e-01 8.34224369e-03 1.87852806e+02] [-1.38920529e-01 9.90302945e-01 -1.07920086e-03 -2.31240435e+01] [-8.41127614e-03 -9.02110257e-05 9.99964621e-01 -4.57765612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:-23.13, Z:-4.58 [[ 9.90568946e-01 1.36759677e-01 8.36388634e-03 1.87881218e+02] [-1.36755423e-01 9.90604253e-01 -1.08105833e-03 -2.31301198e+01] [-8.43314656e-03 -7.29440080e-05 9.99964438e-01 -4.57832614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.91, Y:-23.14, Z:-4.58 [[ 9.90936156e-01 1.34023089e-01 9.12945653e-03 1.87908840e+02] [-1.34017908e-01 9.90978208e-01 -1.17961509e-03 -2.31355279e+01] [-9.20518813e-03 -5.45874285e-05 9.99957630e-01 -4.57935463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:-23.14, Z:-4.58 [[ 9.91541581e-01 1.29322366e-01 1.10008340e-02 1.87936509e+02] [-1.29314565e-01 9.91602605e-01 -1.42049661e-03 -2.31414604e+01] [-1.10921576e-02 -1.40866092e-05 9.99938480e-01 -4.57826364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.97, Y:-23.15, Z:-4.58 [[ 9.91798384e-01 1.27325262e-01 1.11464456e-02 1.87965160e+02] [-1.27317138e-01 9.91861017e-01 -1.43831474e-03 -2.31473144e+01] [-1.12388586e-02 7.38469079e-06 9.99936842e-01 -4.57879290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:-23.16, Z:-4.58 [[ 9.92198797e-01 1.24182623e-01 1.09646249e-02 1.87993294e+02] [-1.24174576e-01 9.92259379e-01 -1.41432962e-03 -2.31555595e+01] [-1.10553871e-02 4.17684991e-05 9.99938886e-01 -4.57939137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.02, Y:-23.16, Z:-4.58 [[ 9.92297025e-01 1.23407642e-01 1.08243943e-02 1.88021951e+02] [-1.23399759e-01 9.92356061e-01 -1.39572540e-03 -2.31614193e+01] [-1.09138965e-02 4.92465117e-05 9.99940440e-01 -4.58047969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:-23.17, Z:-4.58 [[ 9.92415414e-01 1.22493131e-01 1.03479033e-02 1.88049416e+02] [-1.22485880e-01 9.92469360e-01 -1.33397741e-03 -2.31667632e+01] [-1.04333800e-02 5.63877010e-05 9.99945569e-01 -4.58108600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.08, Y:-23.17, Z:-4.58 [[ 9.92493523e-01 1.21878704e-01 1.01088098e-02 1.88077354e+02] [-1.21871760e-01 9.92545000e-01 -1.30242264e-03 -2.31733619e+01] [-1.01921862e-02 6.06675899e-05 9.99948056e-01 -4.58296938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.10, Y:-23.18, Z:-4.58 [[ 9.92444711e-01 1.22215132e-01 1.08146556e-02 1.88104698e+02] [-1.22207210e-01 9.92503631e-01 -1.39289615e-03 -2.31782048e+01] [-1.09038179e-02 6.07435339e-05 9.99940550e-01 -4.58320826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:-23.18, Z:-4.58 [[ 9.92359931e-01 1.22872395e-01 1.11418609e-02 1.88131659e+02] [-1.22864035e-01 9.92422476e-01 -1.43436217e-03 -2.31831254e+01] [-1.12336767e-02 5.44695620e-05 9.99936899e-01 -4.58385008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.16, Y:-23.19, Z:-4.58 [[ 9.92067574e-01 1.25248132e-01 1.07160721e-02 1.88159311e+02] [-1.25240545e-01 9.92125448e-01 -1.37880581e-03 -2.31892243e+01] [-1.08043807e-02 2.57818190e-05 9.99941631e-01 -4.58483222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:-23.19, Z:-4.59 [[ 9.91637178e-01 1.28590733e-01 1.09603979e-02 1.88187123e+02] [-1.28583010e-01 9.91697748e-01 -1.40942086e-03 -2.31948740e+01] [-1.10506403e-02 -1.16868246e-05 9.99938940e-01 -4.58623709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834203822 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:188.22, Y:-23.20, Z:-4.59 [[ 9.91441760e-01 1.30091400e-01 1.09299627e-02 1.88215418e+02] [-1.30083816e-01 9.91502005e-01 -1.40499592e-03 -2.31996355e+01] [-1.10198578e-02 -2.88396180e-05 9.99939279e-01 -4.58818908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.24, Y:-23.20, Z:-4.59 [[ 9.91226939e-01 1.31709715e-01 1.10320224e-02 1.88243712e+02] [-1.31702095e-01 9.91288328e-01 -1.41755248e-03 -2.32043098e+01] [-1.11226205e-02 -4.78242646e-05 9.99938141e-01 -4.58822120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:-23.21, Z:-4.59 [[ 9.91057353e-01 1.32970250e-01 1.11460906e-02 1.88271582e+02] [-1.32962556e-01 9.91120027e-01 -1.43179062e-03 -2.32075471e+01] [-1.12374992e-02 -6.30260718e-05 9.99936855e-01 -4.58858150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.30, Y:-23.21, Z:-4.59 [[ 9.90799962e-01 1.34843446e-01 1.15186534e-02 1.88299203e+02] [-1.34835365e-01 9.90866912e-01 -1.47886965e-03 -2.32086109e+01] [-1.16128685e-02 -8.78578486e-05 9.99932565e-01 -4.58972151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:-23.21, Z:-4.59 [[ 9.90707771e-01 1.35561795e-01 1.10050867e-02 1.88327834e+02] [-1.35554470e-01 9.90768889e-01 -1.41220059e-03 -2.32114877e+01] [-1.10949380e-02 -9.27105995e-05 9.99938445e-01 -4.59078538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:-23.22, Z:-4.59 [[ 9.90498287e-01 1.37119334e-01 1.05560827e-02 1.88355510e+02] [-1.37112686e-01 9.90554530e-01 -1.35432402e-03 -2.32158085e+01] [-1.06420795e-02 -1.05917234e-04 9.99943366e-01 -4.59125025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.38, Y:-23.22, Z:-4.59 [[ 9.90430344e-01 1.37543633e-01 1.13790341e-02 1.88382779e+02] [-1.37535947e-01 9.90495701e-01 -1.45903682e-03 -2.32196100e+01] [-1.14715656e-02 -1.19951891e-04 9.99934192e-01 -4.59232307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:-23.22, Z:-4.59 [[ 9.90420650e-01 1.37556570e-01 1.20468002e-02 1.88410388e+02] [-1.37547967e-01 9.90493904e-01 -1.54371800e-03 -2.32233030e+01] [-1.21446308e-02 -1.28082697e-04 9.99926243e-01 -4.59252404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:-23.23, Z:-4.59 [[ 9.90668546e-01 1.35662208e-01 1.30995357e-02 1.88438671e+02] [-1.35651884e-01 9.90755142e-01 -1.67759890e-03 -2.32255602e+01] [-1.32060192e-02 -1.15032242e-04 9.99912790e-01 -4.59253005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:-23.23, Z:-4.59 [[ 9.90923472e-01 1.33712132e-01 1.38469560e-02 1.88467494e+02] [-1.33700415e-01 9.91020210e-01 -1.77261138e-03 -2.32277344e+01] [-1.39596329e-02 -9.48215427e-05 9.99902555e-01 -4.59290295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:-23.23, Z:-4.59 [[ 9.91248202e-01 1.31189197e-01 1.47104297e-02 1.88496460e+02] [-1.31175707e-01 9.91357348e-01 -1.88237576e-03 -2.32297755e+01] [-1.48302399e-02 -6.37494328e-05 9.99890024e-01 -4.59400133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.53, Y:-23.23, Z:-4.60 [[ 9.91956469e-01 1.25748449e-01 1.44806983e-02 1.88526322e+02] [-1.25734809e-01 9.92062159e-01 -1.85210839e-03 -2.32331619e+01] [-1.45986526e-02 1.64830653e-05 9.99893434e-01 -4.59520148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:-23.24, Z:-4.60 [[ 9.92282686e-01 1.23101028e-01 1.48730318e-02 1.88555356e+02] [-1.23086349e-01 9.92394142e-01 -1.90179859e-03 -2.32386290e+01] [-1.49940230e-02 5.64546209e-05 9.99887582e-01 -4.59636512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:-23.25, Z:-4.60 [[ 9.92743780e-01 1.19148311e-01 1.62316530e-02 1.88584178e+02] [-1.19130304e-01 9.92876460e-01 -2.07529743e-03 -2.32451235e+01] [-1.63632943e-02 1.26556864e-04 9.99866104e-01 -4.59706884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:188.61, Y:-23.25, Z:-4.60 [[ 9.92902013e-01 1.17878424e-01 1.58199040e-02 1.88614343e+02] [-1.17861161e-01 9.93028024e-01 -2.02237724e-03 -2.32486141e+01] [-1.59480027e-02 1.43470180e-04 9.99872812e-01 -4.59899890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:188.64, Y:-23.25, Z:-4.60 [[ 9.93045127e-01 1.16728542e-01 1.53565578e-02 1.88644820e+02] [-1.16712139e-01 9.93163845e-01 -1.96314422e-03 -2.32519049e+01] [-1.54807330e-02 1.57194094e-04 9.99880154e-01 -4.60015257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:-23.26, Z:-4.60 [[ 9.93249985e-01 1.14964316e-01 1.54166312e-02 1.88674304e+02] [-1.14947573e-01 9.93369605e-01 -1.97072856e-03 -2.32565946e+01] [-1.55409763e-02 1.85321786e-04 9.99879215e-01 -4.60060924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:-23.26, Z:-4.60 [[ 9.93344902e-01 1.14169070e-01 1.52095382e-02 1.88704667e+02] [-1.14152684e-01 9.93461316e-01 -1.94406392e-03 -2.32606835e+01] [-1.53320398e-02 1.94916383e-04 9.99882438e-01 -4.60190335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:188.73, Y:-23.26, Z:-4.60 [[ 9.93471494e-01 1.13167977e-01 1.44013840e-02 1.88734584e+02] [-1.13153162e-01 9.93575850e-01 -1.84206732e-03 -2.32643431e+01] [-1.45173304e-02 2.00479247e-04 9.99894598e-01 -4.60391604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:-23.27, Z:-4.60 [[ 9.93611001e-01 1.12150027e-01 1.26313057e-02 1.88764943e+02] [-1.12138547e-01 9.93691268e-01 -1.61565829e-03 -2.32708866e+01] [-1.27328143e-02 1.88879583e-04 9.99918917e-01 -4.60381128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:-23.28, Z:-4.60 [[ 9.93597155e-01 1.12314308e-01 1.22551836e-02 1.88794272e+02] [-1.12303513e-01 9.93672714e-01 -1.56767759e-03 -2.32762943e+01] [-1.23537142e-02 1.81339820e-04 9.99923674e-01 -4.60439372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.82, Y:-23.28, Z:-4.60 [[ 9.93418292e-01 1.13865259e-01 1.24418538e-02 1.88823487e+02] [-1.13854255e-01 9.93496188e-01 -1.59153839e-03 -2.32804263e+01] [-1.25421553e-02 1.64505352e-04 9.99921331e-01 -4.60483984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:-23.28, Z:-4.61 [[ 9.93259376e-01 1.15232124e-01 1.25447107e-02 1.88852862e+02] [-1.15221050e-01 9.93338581e-01 -1.60439037e-03 -2.32844268e+01] [-1.26460225e-02 1.48161036e-04 9.99920025e-01 -4.60533570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.88, Y:-23.29, Z:-4.61 [[ 9.93088447e-01 1.16705285e-01 1.24584077e-02 1.88882159e+02] [-1.16694482e-01 9.93166582e-01 -1.59305750e-03 -2.32890870e+01] [-1.25591925e-02 1.28219555e-04 9.99921122e-01 -4.60589665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:-23.29, Z:-4.61 [[ 9.92897414e-01 1.18297378e-01 1.26670950e-02 1.88911294e+02] [-1.18286345e-01 9.92978206e-01 -1.61928774e-03 -2.32934101e+01] [-1.27697068e-02 1.09442233e-04 9.99918458e-01 -4.60675294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:-23.30, Z:-4.61 [[ 9.92503686e-01 1.21509791e-01 1.31073778e-02 1.88938567e+02] [-1.21498254e-01 9.92590231e-01 -1.67587111e-03 -2.32960630e+01] [-1.32138899e-02 7.07847341e-05 9.99912690e-01 -4.60829979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.97, Y:-23.30, Z:-4.61 [[ 9.92143088e-01 1.24435625e-01 1.29564245e-02 1.88967670e+02] [-1.24424617e-01 9.92227683e-01 -1.65546973e-03 -2.33002448e+01] [-1.30617225e-02 3.03646923e-05 9.99914692e-01 -4.60975786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:-23.30, Z:-4.61 [[ 9.91935526e-01 1.26079372e-01 1.29578145e-02 1.88997391e+02] [-1.26068505e-01 9.92020157e-01 -1.65532967e-03 -2.33045415e+01] [-1.30631161e-02 8.40800994e-06 9.99914674e-01 -4.61071748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-23.31, Z:-4.61 [[ 9.91702085e-01 1.27880048e-01 1.31783450e-02 1.89026397e+02] [-1.27868972e-01 9.91789642e-01 -1.68316439e-03 -2.33077869e+01] [-1.32853892e-02 -1.59037813e-05 9.99911745e-01 -4.61145627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:-23.31, Z:-4.61 [[ 9.91413727e-01 1.30050294e-01 1.36287175e-02 1.89054646e+02] [-1.30038656e-01 9.91507397e-01 -1.74044538e-03 -2.33102047e+01] [-1.37393197e-02 -4.67586640e-05 9.99905610e-01 -4.61188142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.08, Y:-23.31, Z:-4.61 [[ 9.90834635e-01 1.34485895e-01 1.26598063e-02 1.89084083e+02] [-1.34476219e-01 9.90915503e-01 -1.61640253e-03 -2.33109136e+01] [-1.27621817e-02 -1.00855277e-04 9.99918555e-01 -4.61254173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.11, Y:-23.31, Z:-4.62 [[ 9.90550413e-01 1.36662997e-01 1.15370767e-02 1.89112666e+02] [-1.36655113e-01 9.90617591e-01 -1.47265490e-03 -2.33130775e+01] [-1.16300886e-02 -1.17861602e-04 9.99932361e-01 -4.61500935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:-23.31, Z:-4.62 [[ 9.90027625e-01 1.40449487e-01 1.09198659e-02 1.89140684e+02] [-1.40442658e-01 9.90087833e-01 -1.39353224e-03 -2.33137155e+01] [-1.10073473e-02 -1.53979582e-04 9.99939405e-01 -4.61520922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.17, Y:-23.32, Z:-4.62 [[ 9.89792415e-01 1.42093902e-01 1.09680417e-02 1.89168988e+02] [-1.42087123e-01 9.89853167e-01 -1.39881669e-03 -2.33158528e+01] [-1.10555142e-02 -1.73879344e-04 9.99938871e-01 -4.61572717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:-23.32, Z:-4.62 [[ 9.89543884e-01 1.43786160e-01 1.13332559e-02 1.89197083e+02] [-1.43779039e-01 9.89608761e-01 -1.44492580e-03 -2.33166165e+01] [-1.14232497e-02 -1.99667154e-04 9.99934733e-01 -4.61638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:-23.31, Z:-4.62 [[ 9.89117444e-01 1.46585549e-01 1.26237437e-02 1.89225581e+02] [-1.46576952e-01 9.89197963e-01 -1.60851984e-03 -2.33136291e+01] [-1.27231674e-02 -2.59334852e-04 9.99919024e-01 -4.61621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.25, Y:-23.31, Z:-4.62 [[ 9.89038186e-01 1.47079077e-01 1.30847774e-02 1.89254647e+02] [-1.47069898e-01 9.89124698e-01 -1.66619211e-03 -2.33147286e+01] [-1.31875385e-02 -2.76449264e-04 9.99913002e-01 -4.61680827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:-23.31, Z:-4.62 [[ 9.89112768e-01 1.46506600e-01 1.38473053e-02 1.89283139e+02] [-1.46496274e-01 9.89209652e-01 -1.76267086e-03 -2.33137885e+01] [-1.39561309e-02 -2.85098365e-04 9.99902568e-01 -4.61743321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:-23.31, Z:-4.62 [[ 9.89297529e-01 1.45237531e-01 1.40163459e-02 1.89312337e+02] [-1.45226837e-01 9.89396779e-01 -1.78321306e-03 -2.33147713e+01] [-1.41267169e-02 -2.71421304e-04 9.99900176e-01 -4.61799184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.34, Y:-23.31, Z:-4.62 [[ 9.89747393e-01 1.42143497e-01 1.39758276e-02 1.89341611e+02] [-1.42132566e-01 9.89846036e-01 -1.77740267e-03 -2.33137138e+01] [-1.40865638e-02 -2.27240572e-04 9.99900754e-01 -4.61919812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:-23.32, Z:-4.62 [[ 9.89752491e-01 1.42107990e-01 1.39759263e-02 1.89370708e+02] [-1.42097066e-01 9.89851134e-01 -1.77662589e-03 -2.33173268e+01] [-1.40865593e-02 -2.27518220e-04 9.99900754e-01 -4.61988358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.40, Y:-23.32, Z:-4.62 [[ 9.90000764e-01 1.40380729e-01 1.38469813e-02 1.89399035e+02] [-1.40369840e-01 9.90097576e-01 -1.75996145e-03 -2.33189571e+01] [-1.39569273e-02 -2.01335374e-04 9.99902577e-01 -4.62037654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:-23.32, Z:-4.62 [[ 9.90207127e-01 1.38907832e-01 1.39448753e-02 1.89427563e+02] [-1.38896656e-01 9.90305297e-01 -1.77143646e-03 -2.33205970e+01] [-1.40557503e-02 -1.82807551e-04 9.99901196e-01 -4.62166256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:-23.32, Z:-4.62 [[ 9.90743297e-01 1.35151754e-01 1.27170229e-02 1.89456688e+02] [-1.35142157e-01 9.90824903e-01 -1.61494686e-03 -2.33193909e+01] [-1.28186058e-02 -1.18608121e-04 9.99917831e-01 -4.62312027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:-23.32, Z:-4.62 [[ 9.91017549e-01 1.33129626e-01 1.26775912e-02 1.89484793e+02] [-1.33119929e-01 9.91098630e-01 -1.60945648e-03 -2.33213353e+01] [-1.27790096e-02 -9.26404253e-05 9.99918341e-01 -4.62443906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.51, Y:-23.32, Z:-4.62 [[ 9.91521170e-01 1.29244978e-01 1.34724224e-02 1.89513581e+02] [-1.29233682e-01 9.91612693e-01 -1.70935642e-03 -2.33220685e+01] [-1.35803508e-02 -4.62276772e-05 9.99907782e-01 -4.62482674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:-23.32, Z:-4.63 [[ 9.91761529e-01 1.27382287e-01 1.35211916e-02 1.89542964e+02] [-1.27370745e-01 9.91853695e-01 -1.71490124e-03 -2.33234351e+01] [-1.36294919e-02 -2.14311753e-05 9.99907114e-01 -4.62504790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:-23.32, Z:-4.63 [[ 9.92028300e-01 1.25260217e-01 1.37742202e-02 1.89571437e+02] [-1.25248043e-01 9.92123923e-01 -1.74632605e-03 -2.33246272e+01] [-1.38844786e-02 7.21073404e-06 9.99903606e-01 -4.62548227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.60, Y:-23.33, Z:-4.63 [[ 9.92561271e-01 1.20963826e-01 1.37795850e-02 1.89599695e+02] [-1.20951237e-01 9.92656914e-01 -1.74636282e-03 -2.33277242e+01] [-1.38896470e-02 6.67142498e-05 9.99903532e-01 -4.62604929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:-23.33, Z:-4.63 [[ 9.92832462e-01 1.18779995e-01 1.32293032e-02 1.89628629e+02] [-1.18768206e-01 9.92920593e-01 -1.67604936e-03 -2.33317486e+01] [-1.33347287e-02 9.28156164e-05 9.99911084e-01 -4.62723287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.66, Y:-23.34, Z:-4.63 [[ 9.93114040e-01 1.16485662e-01 1.24737118e-02 1.89656878e+02] [-1.16475006e-01 9.93192367e-01 -1.57983445e-03 -2.33358986e+01] [-1.25728234e-02 1.16080116e-04 9.99920952e-01 -4.62799558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:-23.34, Z:-4.63 [[ 9.93539988e-01 1.12751774e-01 1.28580285e-02 1.89684674e+02] [-1.12740148e-01 9.93623173e-01 -1.62785041e-03 -2.33424758e+01] [-1.29595781e-02 1.67718452e-04 9.99916007e-01 -4.62951672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.71, Y:-23.35, Z:-4.63 [[ 9.93730924e-01 1.11080591e-01 1.26472450e-02 1.89712129e+02] [-1.11069213e-01 9.93811384e-01 -1.60069325e-03 -2.33473897e+01] [-1.27467821e-02 1.85938835e-04 9.99918739e-01 -4.62946305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.74, Y:-23.35, Z:-4.63 [[ 9.93953423e-01 1.09099824e-01 1.24024863e-02 1.89740642e+02] [-1.09088739e-01 9.94030777e-01 -1.56885235e-03 -2.33515787e+01] [-1.24996146e-02 2.06394572e-04 9.99921855e-01 -4.62978304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.77, Y:-23.36, Z:-4.63 [[ 9.94005480e-01 1.08674643e-01 1.19552645e-02 1.89768691e+02] [-1.08664318e-01 9.94077351e-01 -1.51177900e-03 -2.33557163e+01] [-1.20487497e-02 2.03605952e-04 9.99927390e-01 -4.63029745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:-23.36, Z:-4.63 [[ 9.93987905e-01 1.08884812e-01 1.14953311e-02 1.89796867e+02] [-1.08875286e-01 9.94054355e-01 -1.45310061e-03 -2.33607947e+01] [-1.15852046e-02 1.92806965e-04 9.99932871e-01 -4.63116364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:-23.37, Z:-4.63 [[ 9.93907560e-01 1.09656251e-01 1.11026480e-02 1.89823989e+02] [-1.09647417e-01 9.93969554e-01 -1.40310124e-03 -2.33657977e+01] [-1.11895529e-02 1.77176255e-04 9.99937379e-01 -4.63219633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:-23.37, Z:-4.63 [[ 9.93611691e-01 1.12299289e-01 1.11658692e-02 1.89850890e+02] [-1.12290529e-01 9.93674417e-01 -1.41037561e-03 -2.33710259e+01] [-1.12536228e-02 1.47544328e-04 9.99936665e-01 -4.63287501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.88, Y:-23.38, Z:-4.63 [[ 9.93426556e-01 1.13946978e-01 1.09436810e-02 1.89878959e+02] [-1.13938672e-01 9.93486824e-01 -1.38158436e-03 -2.33754547e+01] [-1.10298303e-02 1.25594107e-04 9.99939162e-01 -4.63319409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:-23.38, Z:-4.63 [[ 9.92925546e-01 1.18276714e-01 1.04631777e-02 1.89907139e+02] [-1.18269366e-01 9.92980671e-01 -1.32045043e-03 -2.33808362e+01] [-1.05459117e-02 7.36355782e-05 9.99944388e-01 -4.63348120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:-23.38, Z:-4.63 [[ 9.92606501e-01 1.20927950e-01 1.04290846e-02 1.89934937e+02] [-1.20920799e-01 9.92661286e-01 -1.31588498e-03 -2.33845668e+01] [-1.05116758e-02 4.50627513e-05 9.99944750e-01 -4.63429580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:-23.39, Z:-4.63 [[ 9.91874696e-01 1.26840168e-01 9.80610423e-03 1.89963502e+02] [-1.26834142e-01 9.91923168e-01 -1.23645593e-03 -2.33881840e+01] [-9.88373425e-03 -1.73394722e-05 9.99951155e-01 -4.63465625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:-23.39, Z:-4.64 [[ 9.91539173e-01 1.29472751e-01 9.32067494e-03 1.89990940e+02] [-1.29467426e-01 9.91582979e-01 -1.17501229e-03 -2.33918109e+01] [-9.39435470e-03 -4.16530757e-05 9.99955871e-01 -4.63526690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:-23.40, Z:-4.64 [[ 9.91152992e-01 1.32404613e-01 9.20676408e-03 1.90019208e+02] [-1.32399551e-01 9.91195749e-01 -1.15992289e-03 -2.33958951e+01] [-9.27928457e-03 -6.93103890e-05 9.99956944e-01 -4.63617060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.05, Y:-23.40, Z:-4.64 [[ 9.90796978e-01 1.35022878e-01 9.49585445e-03 1.90046842e+02] [-1.35017616e-01 9.90842476e-01 -1.19603995e-03 -2.33990395e+01] [-9.57038869e-03 -9.70748596e-05 9.99954198e-01 -4.63698634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:-23.40, Z:-4.64 [[ 9.90183739e-01 1.39433893e-01 9.71348599e-03 1.90075382e+02] [-1.39428607e-01 9.90231371e-01 -1.22259365e-03 -2.34016267e+01] [-9.78906955e-03 -1.43745470e-04 9.99952076e-01 -4.63757712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.10, Y:-23.40, Z:-4.64 [[ 9.89993247e-01 1.40796411e-01 9.47324519e-03 1.90104259e+02] [-1.40791450e-01 9.90038558e-01 -1.19191270e-03 -2.34042241e+01] [-9.54669504e-03 -1.53766401e-04 9.99954417e-01 -4.63820620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:-23.41, Z:-4.64 [[ 9.89825272e-01 1.42034302e-01 8.49630399e-03 1.90131156e+02] [-1.42030355e-01 9.89861725e-01 -1.06923491e-03 -2.34050182e+01] [-8.56203416e-03 -1.48377336e-04 9.99963334e-01 -4.63852715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:-23.41, Z:-4.64 [[ 9.89878317e-01 1.41683640e-01 8.16483652e-03 1.90159245e+02] [-1.41679990e-01 9.89911979e-01 -1.02672799e-03 -2.34077979e+01] [-8.22794004e-03 -1.40458174e-04 9.99966140e-01 -4.63939173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:-23.41, Z:-4.64 [[ 9.89962229e-01 1.41108145e-01 7.95465864e-03 1.90185696e+02] [-1.41104664e-01 9.89994179e-01 -9.99923256e-04 -2.34109402e+01] [-8.01616306e-03 -1.32553181e-04 9.99967861e-01 -4.64032834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:-23.41, Z:-4.64 [[ 9.90287917e-01 1.38846059e-01 7.18425879e-03 1.90213277e+02] [-1.38843165e-01 9.90313971e-01 -9.02433038e-04 -2.34129771e+01] [-7.23997112e-03 -1.03816699e-04 9.99973786e-01 -4.63989323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:-23.42, Z:-4.64 [[ 9.90447770e-01 1.37679756e-01 7.58284742e-03 1.90241183e+02] [-1.37676503e-01 9.90476791e-01 -9.51837501e-04 -2.34150382e+01] [-7.64168314e-03 -1.01234586e-04 9.99970797e-01 -4.64046089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.27, Y:-23.41, Z:-4.64 [[ 9.90821082e-01 1.34898245e-01 8.72049799e-03 1.90268398e+02] [-1.34893839e-01 9.90859453e-01 -1.09417139e-03 -2.34147961e+01] [-8.78838967e-03 -9.22133725e-05 9.99961377e-01 -4.64096505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:-23.42, Z:-4.64 [[ 9.91011151e-01 1.33495826e-01 8.70424663e-03 1.90296126e+02] [-1.33491394e-01 9.91049372e-01 -1.09076368e-03 -2.34166687e+01] [-8.77195056e-03 -8.09830484e-05 9.99961522e-01 -4.64172740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:-23.42, Z:-4.64 [[ 9.91232453e-01 1.31857074e-01 8.48147731e-03 1.90324918e+02] [-1.31852814e-01 9.91268736e-01 -1.06190381e-03 -2.34188827e+01] [-8.54744283e-03 -6.57131309e-05 9.99963468e-01 -4.64256772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:-23.42, Z:-4.64 [[ 9.91757776e-01 1.27870025e-01 8.10992098e-03 1.90352695e+02] [-1.27865998e-01 9.91790934e-01 -1.01521448e-03 -2.34203876e+01] [-8.17316160e-03 -3.01362928e-05 9.99966599e-01 -4.64341982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:-23.42, Z:-4.64 [[ 9.92035634e-01 1.25714994e-01 7.81292212e-03 1.90381149e+02] [-1.25711194e-01 9.92066399e-01 -9.77417679e-04 -2.34232196e+01] [-7.87381357e-03 -1.25386043e-05 9.99969001e-01 -4.64390746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:-23.42, Z:-4.64 [[ 9.92584852e-01 1.21288058e-01 8.03234559e-03 1.90408694e+02] [-1.21283900e-01 9.92617351e-01 -1.00462237e-03 -2.34237872e+01] [-8.09489430e-03 2.29787530e-05 9.99967236e-01 -4.64384575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.44, Y:-23.43, Z:-4.64 [[ 9.92813503e-01 1.19375599e-01 8.41513337e-03 1.90437189e+02] [-1.19370972e-01 9.92849165e-01 -1.05172108e-03 -2.34263343e+01] [-8.48050798e-03 3.96402391e-05 9.99964039e-01 -4.64434088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:-23.44, Z:-4.65 [[ 9.92991707e-01 1.17360407e-01 1.39285470e-02 1.90462544e+02] [-1.17524543e-01 9.93002059e-01 1.16143104e-02 -2.34369905e+01] [-1.24680157e-02 -1.31698601e-02 9.99835538e-01 -4.64702446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:-23.42, Z:-4.64 [[ 9.93266198e-01 1.15488184e-01 9.20540699e-03 1.90492623e+02] [-1.15355523e-01 9.93227930e-01 -1.38340768e-02 -2.34244161e+01] [-1.07407397e-02 1.26790263e-02 9.99861930e-01 -4.64249486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.52, Y:-23.43, Z:-4.64 [[ 9.93342367e-01 1.14583691e-01 1.18961818e-02 1.90519620e+02] [-1.14574129e-01 9.93413592e-01 -1.48446664e-03 -2.34347696e+01] [-1.19879244e-02 1.11588933e-04 9.99928136e-01 -4.64409261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.55, Y:-23.44, Z:-4.64 [[ 9.93428724e-01 1.13746482e-01 1.26928435e-02 1.90546926e+02] [-1.13735540e-01 9.93509799e-01 -1.58295748e-03 -2.34386668e+01] [-1.27905202e-02 1.28928023e-04 9.99918190e-01 -4.64491736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:-23.44, Z:-4.65 [[ 9.93534854e-01 1.12874968e-01 1.21546748e-02 1.90573781e+02] [-1.12864878e-01 9.93609191e-01 -1.51513281e-03 -2.34443387e+01] [-1.22480171e-02 1.33501373e-04 9.99924981e-01 -4.64562289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.60, Y:-23.45, Z:-4.65 [[ 9.93595088e-01 1.12471718e-01 1.09047260e-02 1.90601876e+02] [-1.12463579e-01 9.93654919e-01 -1.35867294e-03 -2.34481854e+01] [-1.09883470e-02 1.23586239e-04 9.99939619e-01 -4.64651926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.63, Y:-23.45, Z:-4.65 [[ 9.93639255e-01 1.12281910e-01 8.59089860e-03 1.90629258e+02] [-1.12276853e-01 9.93676387e-01 -1.07020386e-03 -2.34538460e+01] [-8.65673762e-03 9.88375099e-05 9.99962525e-01 -4.64852068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:-23.46, Z:-4.65 [[ 9.93673374e-01 1.12009022e-01 8.19788632e-03 1.90657134e+02] [-1.12004408e-01 9.93707185e-01 -1.02120576e-03 -2.34589597e+01] [-8.26068280e-03 9.65455637e-05 9.99965875e-01 -4.64949090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:190.69, Y:-23.46, Z:-4.65 [[ 9.93678851e-01 1.11982864e-01 7.88540771e-03 1.90685045e+02] [-1.11978602e-01 9.93710134e-01 -9.81439543e-04 -2.34645892e+01] [-7.94571396e-03 9.22387897e-05 9.99968428e-01 -4.65130468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.71, Y:-23.47, Z:-4.65 [[ 9.93695304e-01 1.11848943e-01 7.71077292e-03 1.90713718e+02] [-1.11844865e-01 9.93725216e-01 -9.59390665e-04 -2.34696469e+01] [-7.76969632e-03 9.09316413e-05 9.99969811e-01 -4.65039304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:-23.48, Z:-4.65 [[ 9.93707043e-01 1.11740373e-01 7.77179108e-03 1.90742343e+02] [-1.11736231e-01 9.93737430e-01 -9.66600103e-04 -2.34755835e+01] [-7.83112795e-03 9.21266910e-05 9.99969332e-01 -4.65104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:-23.49, Z:-4.65 [[ 9.93658393e-01 1.12234252e-01 6.81692982e-03 1.90769448e+02] [-1.12231076e-01 9.93681773e-01 -8.47854411e-04 -2.34853129e+01] [-6.86901722e-03 7.74062828e-05 9.99976405e-01 -4.65198117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.80, Y:-23.49, Z:-4.65 [[ 9.93555282e-01 1.13170824e-01 6.34553498e-03 1.90797843e+02] [-1.13168095e-01 9.93575543e-01 -7.88711674e-04 -2.34917408e+01] [-6.39402751e-03 6.55165452e-05 9.99979556e-01 -4.65262134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.82, Y:-23.50, Z:-4.65 [[ 9.93234086e-01 1.15992798e-01 5.63222216e-03 1.90824983e+02] [-1.15990693e-01 9.93250054e-01 -7.00123861e-04 -2.35003355e+01] [-5.67541429e-03 4.21015316e-05 9.99983894e-01 -4.65285720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:-23.51, Z:-4.65 [[ 9.93033941e-01 1.17644068e-01 6.59278336e-03 1.90851862e+02] [-1.17641224e-01 9.93055825e-01 -8.18847448e-04 -2.35063076e+01] [-6.64333447e-03 3.75602017e-05 9.99977932e-01 -4.65369432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.88, Y:-23.51, Z:-4.65 [[ 9.92834449e-01 1.19301587e-01 6.84756211e-03 1.90880495e+02] [-1.19298563e-01 9.92858062e-01 -8.49854586e-04 -2.35121196e+01] [-6.90004624e-03 2.68605882e-05 9.99976194e-01 -4.65382503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:-23.52, Z:-4.65 [[ 9.92414121e-01 1.22726510e-01 7.23994744e-03 1.90907510e+02] [-1.22723221e-01 9.92440529e-01 -8.98439421e-04 -2.35209389e+01] [-7.29547960e-03 3.11429769e-06 9.99973388e-01 -4.65383291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:-23.53, Z:-4.65 [[ 9.92227801e-01 1.24214241e-01 7.40355243e-03 1.90936063e+02] [-1.24210849e-01 9.92255422e-01 -9.17957261e-04 -2.35280157e+01] [-7.46023841e-03 -8.77882167e-06 9.99972172e-01 -4.65435780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:-23.54, Z:-4.65 [[ 9.91858895e-01 1.27075453e-01 8.23170738e-03 1.90962531e+02] [-1.27071361e-01 9.91893053e-01 -1.02036977e-03 -2.35380043e+01] [-8.29463731e-03 -3.39514244e-05 9.99965598e-01 -4.65440682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.99, Y:-23.54, Z:-4.65 [[ 9.91664978e-01 1.28579067e-01 8.24587577e-03 1.90990882e+02] [-1.28575019e-01 9.91699260e-01 -1.02132457e-03 -2.35442315e+01] [-8.30874985e-03 -4.74018274e-05 9.99965481e-01 -4.65471405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.02, Y:-23.55, Z:-4.66 [[ 9.91486245e-01 1.29928291e-01 8.58284703e-03 1.91018260e+02] [-1.29923961e-01 9.91523391e-01 -1.06258204e-03 -2.35506560e+01] [-8.64815306e-03 -6.15820002e-05 9.99962602e-01 -4.65544126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:-23.56, Z:-4.66 [[ 9.91315760e-01 1.31263724e-01 7.93088029e-03 1.91046053e+02] [-1.31260071e-01 9.91347482e-01 -9.81572652e-04 -2.35571814e+01] [-7.99110309e-03 -6.79594737e-05 9.99968068e-01 -4.65583974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:-23.57, Z:-4.66 [[ 9.90893525e-01 1.34407457e-01 8.04099019e-03 1.91073979e+02] [-1.34403809e-01 9.90926146e-01 -9.94779349e-04 -2.35654808e+01] [-8.10173318e-03 -9.50192960e-05 9.99967176e-01 -4.65593536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:-23.57, Z:-4.66 [[ 9.90608246e-01 1.36488650e-01 8.13334170e-03 1.91101964e+02] [-1.36484992e-01 9.90641628e-01 -1.00578341e-03 -2.35706179e+01] [-8.19450489e-03 -1.13741738e-04 9.99966418e-01 -4.65638918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.13, Y:-23.58, Z:-4.66 [[ 9.90074591e-01 1.40344118e-01 7.47217200e-03 1.91128896e+02] [-1.40341140e-01 9.90102778e-01 -9.24022895e-04 -2.35776175e+01] [-7.52789943e-03 -1.33801548e-04 9.99971656e-01 -4.65742247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:-23.58, Z:-4.66 [[ 9.89872702e-01 1.41785260e-01 6.99819696e-03 1.91157553e+02] [-1.41782689e-01 9.89897430e-01 -8.64735217e-04 -2.35835219e+01] [-7.05010389e-03 -1.36245396e-04 9.99975138e-01 -4.65865532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:-23.59, Z:-4.66 [[ 9.89883275e-01 1.41711426e-01 6.99818122e-03 1.91186664e+02] [-1.41708852e-01 9.89908002e-01 -8.64863165e-04 -2.35870090e+01] [-7.05011658e-03 -1.35590643e-04 9.99975138e-01 -4.65935870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:-23.59, Z:-4.66 [[ 9.89681830e-01 1.43141000e-01 6.36621597e-03 1.91214747e+02] [-1.43138904e-01 9.89702297e-01 -7.85964892e-04 -2.35942323e+01] [-6.41316237e-03 -1.33398006e-04 9.99979427e-01 -4.66005357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382200001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:191.24, Y:-23.60, Z:-4.66 [[ 9.89624968e-01 1.43539670e-01 6.22778768e-03 1.91243617e+02] [-1.43537674e-01 9.89644555e-01 -7.68611400e-04 -2.35989699e+01] [-6.27362240e-03 -1.33285127e-04 9.99980312e-01 -4.66195205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.27, Y:-23.60, Z:-4.66 [[ 9.89562907e-01 1.43989707e-01 5.67597528e-03 1.91271857e+02] [-1.43988057e-01 9.89579178e-01 -7.00343385e-04 -2.36038489e+01] [-5.71766919e-03 -1.24238816e-04 9.99983646e-01 -4.66259276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.30, Y:-23.61, Z:-4.66 [[ 9.89511473e-01 1.44336965e-01 5.82112087e-03 1.91299055e+02] [-1.44335236e-01 9.89528587e-01 -7.18153878e-04 -2.36090790e+01] [-5.86382166e-03 -1.29571354e-04 9.99982799e-01 -4.66281032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.33, Y:-23.62, Z:-4.66 [[ 9.89091902e-01 1.47153625e-01 6.55902907e-03 1.91326479e+02] [-1.47151497e-01 9.89113635e-01 -8.08553853e-04 -2.36151277e+01] [-6.60660672e-03 -1.65436877e-04 9.99978162e-01 -4.66179223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:-23.62, Z:-4.66 [[ 9.88589686e-01 1.50401494e-01 8.35600132e-03 1.91355192e+02] [-1.50398165e-01 9.88624971e-01 -1.02901410e-03 -2.36174803e+01] [-8.41571682e-03 -2.39454537e-04 9.99964559e-01 -4.66149307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:-23.62, Z:-4.66 [[ 9.88379412e-01 1.51779658e-01 8.31104456e-03 1.91384177e+02] [-1.51776416e-01 9.88414322e-01 -1.02311027e-03 -2.36202315e+01] [-8.37004280e-03 -2.50199428e-04 9.99964939e-01 -4.66254399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.41, Y:-23.62, Z:-4.66 [[ 9.88210268e-01 1.52923020e-01 7.41728423e-03 1.91413085e+02] [-1.52920471e-01 9.88238077e-01 -9.12862183e-04 -2.36227789e+01] [-7.46964034e-03 -2.32154816e-04 9.99972075e-01 -4.66300033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:-23.62, Z:-4.66 [[ 9.88086048e-01 1.53704509e-01 7.80299154e-03 1.91441327e+02] [-1.53701715e-01 9.88116826e-01 -9.60076207e-04 -2.36248403e+01] [-7.85783527e-03 -2.50695274e-04 9.99969095e-01 -4.66426163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:-23.62, Z:-4.66 [[ 9.88014867e-01 1.54128361e-01 8.43041668e-03 1.91470005e+02] [-1.54125122e-01 9.88050795e-01 -1.03641827e-03 -2.36239426e+01] [-8.48942134e-03 -2.75342340e-04 9.99963926e-01 -4.66470245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.50, Y:-23.62, Z:-4.67 [[ 9.88063227e-01 1.53800189e-01 8.74989168e-03 1.91497999e+02] [-1.53796690e-01 9.88101929e-01 -1.07540125e-03 -2.36249785e+01] [-8.81118176e-03 -2.83139954e-04 9.99961141e-01 -4.66554574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:-23.62, Z:-4.67 [[ 9.88187392e-01 1.53050173e-01 7.83090249e-03 1.91527494e+02] [-1.53047351e-01 9.88218388e-01 -9.61931897e-04 -2.36222913e+01] [-7.88586568e-03 -2.47929911e-04 9.99968875e-01 -4.66600424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:-23.62, Z:-4.67 [[ 9.88306296e-01 1.52310551e-01 7.22230783e-03 1.91555774e+02] [-1.52308133e-01 9.88332660e-01 -8.86910327e-04 -2.36218318e+01] [-7.27312851e-03 -2.23477163e-04 9.99973525e-01 -4.66695431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:-23.62, Z:-4.67 [[ 9.88450019e-01 1.51409879e-01 6.45051036e-03 1.91585195e+02] [-1.51407932e-01 9.88471047e-01 -7.91930548e-04 -2.36220169e+01] [-6.49604884e-03 -1.93874671e-04 9.99978882e-01 -4.66812490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.61, Y:-23.62, Z:-4.67 [[ 9.88942626e-01 1.48187503e-01 5.73985324e-03 1.91614151e+02] [-1.48185908e-01 9.88959271e-01 -7.04533449e-04 -2.36202751e+01] [-5.78088413e-03 -1.53822206e-04 9.99983279e-01 -4.66896075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:-23.62, Z:-4.67 [[ 9.89265696e-01 1.46022184e-01 5.55925834e-03 1.91643569e+02] [-1.46020655e-01 9.89281306e-01 -6.82189354e-04 -2.36204301e+01] [-5.59928513e-03 -1.36900017e-04 9.99984315e-01 -4.66960154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:-23.62, Z:-4.67 [[ 9.90116876e-01 1.40114437e-01 6.04287276e-03 1.91673504e+02] [-1.40112519e-01 9.90135310e-01 -7.41704488e-04 -2.36156188e+01] [-6.08718520e-03 -1.12307994e-04 9.99981467e-01 -4.67000218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:-23.62, Z:-4.67 [[ 9.90644843e-01 1.36324892e-01 6.19028167e-03 1.91701862e+02] [-1.36322810e-01 9.90664179e-01 -7.58977078e-04 -2.36154390e+01] [-6.23595777e-03 -9.19998658e-05 9.99980552e-01 -4.67074054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.73, Y:-23.62, Z:-4.67 [[ 9.91208588e-01 1.32150377e-01 6.46630390e-03 1.91730827e+02] [-1.32148022e-01 9.91229677e-01 -7.91972036e-04 -2.36158381e+01] [-6.51425173e-03 -6.94997847e-05 9.99978780e-01 -4.67095447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:-23.61, Z:-4.67 [[ 9.92356171e-01 1.23153855e-01 7.89672773e-03 1.91759146e+02] [-1.23150062e-01 9.92387589e-01 -9.66721312e-04 -2.36145089e+01] [-7.95567005e-03 -1.31506488e-05 9.99968353e-01 -4.67110695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:-23.62, Z:-4.67 [[ 9.92920299e-01 1.18472406e-01 8.57727491e-03 1.91787813e+02] [-1.18467762e-01 9.92957345e-01 -1.04920965e-03 -2.36161631e+01] [-8.64117051e-03 2.56509889e-05 9.99962664e-01 -4.67132220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.82, Y:-23.62, Z:-4.67 [[ 9.93907872e-01 1.09834439e-01 9.13987617e-03 1.91817095e+02] [-1.09828806e-01 9.93949890e-01 -1.11752631e-03 -2.36166672e+01] [-9.20732180e-03 1.06896507e-04 9.99957606e-01 -4.67152320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:-23.62, Z:-4.67 [[ 9.94339083e-01 1.05816424e-01 9.62664704e-03 1.91845465e+02] [-1.05809991e-01 9.94385670e-01 -1.17651704e-03 -2.36190610e+01] [-9.69709470e-03 1.51261432e-04 9.99952971e-01 -4.67190707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.87, Y:-23.62, Z:-4.67 [[ 9.94714704e-01 1.02167264e-01 1.02229227e-02 1.91873819e+02] [-1.02159822e-01 9.94767215e-01 -1.24883166e-03 -2.36219090e+01] [-1.02970181e-02 1.97859249e-04 9.99946965e-01 -4.67274429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:-23.63, Z:-4.67 [[ 9.95269665e-01 9.66855632e-02 9.49712532e-03 1.91902071e+02] [-9.66788967e-02 9.95314948e-01 -1.15962690e-03 -2.36259353e+01] [-9.56474997e-03 2.35969874e-04 9.99954229e-01 -4.67305453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764203822 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:191.93, Y:-23.63, Z:-4.68 [[ 9.95440341e-01 9.49217349e-02 9.40169008e-03 1.91931222e+02] [-9.49151276e-02 9.95484707e-01 -1.14749920e-03 -2.36303097e+01] [-9.46816131e-03 2.49904377e-04 9.99955145e-01 -4.67585208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:-23.64, Z:-4.68 [[ 9.95630018e-01 9.30252528e-02 8.19575706e-03 1.91959645e+02] [-9.30201671e-02 9.95663722e-01 -1.00037246e-03 -2.36355729e+01] [-8.25327788e-03 2.33630161e-04 9.99965914e-01 -4.67511733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:-23.64, Z:-4.68 [[ 9.95629797e-01 9.30724025e-02 7.67037981e-03 1.91988322e+02] [-9.30679498e-02 9.95659319e-01 -9.36189664e-04 -2.36389587e+01] [-7.72421856e-03 2.18231803e-04 9.99970144e-01 -4.67539033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.02, Y:-23.64, Z:-4.68 [[ 9.95569967e-01 9.37232341e-02 7.50972335e-03 1.92017830e+02] [-9.37189896e-02 9.95598268e-01 -9.15894380e-04 -2.36424010e+01] [-7.56250815e-03 2.08033253e-04 9.99971382e-01 -4.67622351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:-23.65, Z:-4.68 [[ 9.95350720e-01 9.60402757e-02 7.29445847e-03 1.92046131e+02] [-9.60363330e-02 9.95377432e-01 -8.89675775e-04 -2.36483974e+01] [-7.34618405e-03 1.85006380e-04 9.99972999e-01 -4.67677044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:-23.65, Z:-4.68 [[ 9.95181665e-01 9.77774730e-02 7.28144794e-03 1.92074517e+02] [-9.77735913e-02 9.95208288e-01 -8.88028434e-04 -2.36533567e+01] [-7.33338652e-03 1.71816300e-04 9.99973096e-01 -4.67762774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:-23.66, Z:-4.68 [[ 9.94769672e-01 1.01871466e-01 7.45008920e-03 1.92101442e+02] [-1.01867519e-01 9.94797559e-01 -9.08403779e-04 -2.36598168e+01] [-7.50387097e-03 1.44730426e-04 9.99971835e-01 -4.67867397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:-23.67, Z:-4.68 [[ 9.94525643e-01 1.04221107e-01 7.53031935e-03 1.92129593e+02] [-1.04217146e-01 9.94554144e-01 -9.17515073e-04 -2.36651813e+01] [-7.58493475e-03 1.27703873e-04 9.99971226e-01 -4.67926341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.16, Y:-23.67, Z:-4.68 [[ 9.94264152e-01 1.06659473e-01 7.90898788e-03 1.92156798e+02] [-1.06655183e-01 9.94295602e-01 -9.63398738e-04 -2.36700964e+01] [-7.96662746e-03 1.14338279e-04 9.99968259e-01 -4.67963253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:-23.67, Z:-4.68 [[ 9.93689162e-01 1.11864048e-01 8.26345964e-03 1.92184048e+02] [-1.11859550e-01 9.93723517e-01 -1.00599990e-03 -2.36739261e+01] [-8.32412940e-03 7.53043209e-05 9.99965351e-01 -4.67980809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:-23.68, Z:-4.68 [[ 9.93419257e-01 1.14242126e-01 8.18027009e-03 1.92211920e+02] [-1.14237804e-01 9.93452935e-01 -9.95191529e-04 -2.36777775e+01] [-8.24040612e-03 5.41463408e-05 9.99966046e-01 -4.68081922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.24, Y:-23.68, Z:-4.68 [[ 9.92882369e-01 1.18897043e-01 6.93497990e-03 1.92239932e+02] [-1.18894052e-01 9.92906588e-01 -8.43363534e-04 -2.36832471e+01] [-6.98606066e-03 1.28329198e-05 9.99975597e-01 -4.68158808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:-23.69, Z:-4.68 [[ 9.92600638e-01 1.21236533e-01 6.75845630e-03 1.92267321e+02] [-1.21233746e-01 9.92623646e-01 -8.22089250e-04 -2.36877443e+01] [-6.80827079e-03 -3.34666177e-06 9.99976823e-01 -4.68218248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.30, Y:-23.69, Z:-4.68 [[ 9.92312473e-01 1.23582492e-01 6.58212015e-03 1.92295372e+02] [-1.23579904e-01 9.92334302e-01 -8.00027077e-04 -2.36923390e+01] [-6.63053294e-03 -1.95409286e-05 9.99978018e-01 -4.68247773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:-23.69, Z:-4.68 [[ 9.91686781e-01 1.28530451e-01 6.10337171e-03 1.92323966e+02] [-1.28528320e-01 9.91705562e-01 -7.41684627e-04 -2.36941800e+01] [-6.14807673e-03 -4.89372718e-05 9.99981099e-01 -4.68258304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.35, Y:-23.70, Z:-4.68 [[ 9.91345680e-01 1.31129938e-01 6.21952291e-03 1.92352007e+02] [-1.31127778e-01 9.91365187e-01 -7.55681800e-04 -2.36959692e+01] [-6.26491100e-03 -6.64103310e-05 9.99980373e-01 -4.68359709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.38, Y:-23.70, Z:-4.68 [[ 9.91050926e-01 1.33332869e-01 6.35676646e-03 1.92380930e+02] [-1.33330662e-01 9.91071309e-01 -7.71705483e-04 -2.36980170e+01] [-6.40290256e-03 -8.27524440e-05 9.99979498e-01 -4.68496415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.41, Y:-23.70, Z:-4.69 [[ 9.90675111e-01 1.36100323e-01 6.28709116e-03 1.92408622e+02] [-1.36098220e-01 9.90695055e-01 -7.63160531e-04 -2.36996867e+01] [-6.33245652e-03 -9.96177706e-05 9.99979945e-01 -4.68629255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.44, Y:-23.70, Z:-4.69 [[ 9.90659236e-01 1.36218908e-01 6.21986532e-03 1.92435997e+02] [-1.36216854e-01 9.90678757e-01 -7.54588683e-04 -2.37017401e+01] [-6.26467769e-03 -9.97102399e-05 9.99980372e-01 -4.68665352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.46, Y:-23.70, Z:-4.69 [[ 9.90958832e-01 1.34017459e-01 6.31773199e-03 1.92464014e+02] [-1.34015298e-01 9.90978967e-01 -7.66049655e-04 -2.37037248e+01] [-6.36340355e-03 -8.75490647e-05 9.99979750e-01 -4.68801600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.49, Y:-23.71, Z:-4.69 [[ 9.91215977e-01 1.32118178e-01 5.97273930e-03 1.92492611e+02] [-1.32116215e-01 9.91233969e-01 -7.23775365e-04 -2.37066647e+01] [-6.01600596e-03 -7.16780029e-05 9.99981901e-01 -4.68871820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:-23.71, Z:-4.69 [[ 9.91545626e-01 1.29616208e-01 6.07542825e-03 1.92520505e+02] [-1.29614131e-01 9.91564237e-01 -7.36108200e-04 -2.37087770e+01] [-6.11958893e-03 -5.75764858e-05 9.99981273e-01 -4.68922273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.55, Y:-23.71, Z:-4.69 [[ 9.92307634e-01 1.23556406e-01 7.70547287e-03 1.92548529e+02] [-1.23552888e-01 9.92337550e-01 -9.32689459e-04 -2.37094859e+01] [-7.76166983e-03 -2.65185570e-05 9.99969877e-01 -4.69004567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.58, Y:-23.71, Z:-4.69 [[ 9.92702354e-01 1.20328002e-01 7.95033016e-03 1.92577316e+02] [-1.20324160e-01 9.92734190e-01 -9.61632920e-04 -2.37126332e+01] [-8.00827594e-03 -2.00153120e-06 9.99967933e-01 -4.69059922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:-23.72, Z:-4.69 [[ 9.93062434e-01 1.17326266e-01 7.84529564e-03 1.92605164e+02] [-1.17322432e-01 9.93093423e-01 -9.48750537e-04 -2.37163514e+01] [-7.90242486e-03 2.17393561e-05 9.99968775e-01 -4.69128407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:-23.72, Z:-4.69 [[ 9.93728101e-01 1.11589578e-01 7.22685980e-03 1.92633410e+02] [-1.11586177e-01 9.93754377e-01 -8.73442727e-04 -2.37210668e+01] [-7.27919067e-03 6.15469260e-05 9.99973504e-01 -4.69187677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:-23.73, Z:-4.69 [[ 9.93986924e-01 1.09275194e-01 6.99482866e-03 1.92660889e+02] [-1.09271951e-01 9.94011532e-01 -8.45290528e-04 -2.37255022e+01] [-7.04530964e-03 7.58691542e-05 9.99975179e-01 -4.69247465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:-23.73, Z:-4.69 [[ 9.94331720e-01 1.06106108e-01 6.77671102e-03 1.92688240e+02] [-1.06102993e-01 9.94354808e-01 -8.18645234e-04 -2.37296959e+01] [-6.82531845e-03 9.49756031e-05 9.99976703e-01 -4.69322835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.72, Y:-23.73, Z:-4.69 [[ 9.94407486e-01 1.05392373e-01 6.79707162e-03 1.92716691e+02] [-1.05389227e-01 9.94430710e-01 -8.20347990e-04 -2.37323868e+01] [-6.84567519e-03 9.94220549e-05 9.99976563e-01 -4.69323021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:-23.74, Z:-4.69 [[ 9.94441805e-01 1.04999589e-01 7.78350086e-03 1.92744492e+02] [-1.04995454e-01 9.94472258e-01 -9.39051089e-04 -2.37354824e+01] [-7.83907566e-03 1.16599452e-04 9.99969267e-01 -4.69407185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.77, Y:-23.74, Z:-4.69 [[ 9.94392805e-01 1.05460238e-01 7.81580539e-03 1.92772261e+02] [-1.05456087e-01 9.94423514e-01 -9.42472490e-04 -2.37395245e+01] [-7.87161403e-03 1.12963613e-04 9.99969012e-01 -4.69446759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.80, Y:-23.74, Z:-4.70 [[ 9.94321036e-01 1.06114371e-01 8.08813368e-03 1.92800453e+02] [-1.06109953e-01 9.94353925e-01 -9.74598398e-04 -2.37428065e+01] [-8.14588636e-03 1.10832205e-04 9.99966816e-01 -4.69502985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:-23.75, Z:-4.70 [[ 9.94105522e-01 1.08111567e-01 8.13026425e-03 1.92829024e+02] [-1.08107173e-01 9.94138763e-01 -9.79287930e-04 -2.37464730e+01] [-8.18848320e-03 9.45756540e-05 9.99966469e-01 -4.69592104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.86, Y:-23.75, Z:-4.70 [[ 9.94025997e-01 1.08836438e-01 8.18218072e-03 1.92857946e+02] [-1.08832015e-01 9.94059667e-01 -9.85147926e-04 -2.37512690e+01] [-8.24079583e-03 8.87794341e-05 9.99966040e-01 -4.69675963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.89, Y:-23.76, Z:-4.70 [[ 9.93954393e-01 1.09458549e-01 8.57266036e-03 1.92886874e+02] [-1.09453721e-01 9.93991357e-01 -1.03174229e-03 -2.37560074e+01] [-8.63408333e-03 8.71952091e-05 9.99962722e-01 -4.69761965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:-23.76, Z:-4.70 [[ 9.93959172e-01 1.09362849e-01 9.21587697e-03 1.92915642e+02] [-1.09357272e-01 9.94001891e-01 -1.10843141e-03 -2.37591403e+01] [-9.28182035e-03 9.39123972e-05 9.99956919e-01 -4.69804935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:-23.76, Z:-4.70 [[ 9.93963053e-01 1.09327565e-01 9.21591746e-03 1.92944763e+02] [-1.09321990e-01 9.94005772e-01 -1.10809461e-03 -2.37625562e+01] [-9.28182043e-03 9.39026647e-05 9.99956919e-01 -4.69875281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:-23.77, Z:-4.70 [[ 9.93999161e-01 1.08933411e-01 9.95893474e-03 1.92973531e+02] [-1.08926885e-01 9.94049043e-01 -1.19700258e-03 -2.37664203e+01] [-1.00300631e-02 1.05023817e-04 9.99949692e-01 -4.69910038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:-23.77, Z:-4.70 [[ 9.94076770e-01 1.08189770e-01 1.03125632e-02 1.93002702e+02] [-1.08182738e-01 9.94130253e-01 -1.23894652e-03 -2.37709335e+01] [-1.03860724e-02 1.15966639e-04 9.99946057e-01 -4.69958290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.03, Y:-23.78, Z:-4.70 [[ 9.94323258e-01 1.05913401e-01 1.01788919e-02 1.93031473e+02] [-1.05906433e-01 9.94375348e-01 -1.22265950e-03 -2.37762819e+01] [-1.02511352e-02 1.37708649e-04 9.99947446e-01 -4.70001606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.06, Y:-23.78, Z:-4.70 [[ 9.94436979e-01 1.04777220e-01 1.08087519e-02 1.93059752e+02] [-1.04769299e-01 9.94495706e-01 -1.29803359e-03 -2.37816212e+01] [-1.08852617e-02 1.58387240e-04 9.99940741e-01 -4.70211843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:-23.79, Z:-4.70 [[ 9.94718491e-01 1.02005800e-01 1.13991319e-02 1.93088374e+02] [-1.01996812e-01 9.94783784e-01 -1.36857542e-03 -2.37886379e+01] [-1.14792742e-02 1.98672159e-04 9.99934091e-01 -4.70098923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.12, Y:-23.79, Z:-4.70 [[ 9.94812176e-01 1.00932709e-01 1.27013147e-02 1.93117910e+02] [-1.00951265e-01 9.94891029e-01 8.26706976e-04 -2.37944533e+01] [-1.25529822e-02 -2.10463194e-03 9.99918993e-01 -4.70156838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.15, Y:-23.80, Z:-4.70 [[ 9.94790309e-01 1.01230512e-01 1.20260277e-02 1.93148209e+02] [-1.01191591e-01 9.94859686e-01 -3.80356821e-03 -2.37973905e+01] [-1.23492473e-02 2.56681992e-03 9.99920451e-01 -4.70173141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.18, Y:-23.81, Z:-4.70 [[ 9.94777357e-01 1.01378865e-01 1.18463809e-02 1.93178772e+02] [-1.01369115e-01 9.94847868e-01 -1.42209410e-03 -2.38095001e+01] [-1.19295170e-02 2.13809863e-04 9.99928818e-01 -4.70349100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.21, Y:-23.82, Z:-4.70 [[ 9.94727568e-01 1.02007222e-01 1.05636898e-02 1.93208187e+02] [-1.01999501e-01 9.94783641e-01 -1.26847263e-03 -2.38158631e+01] [-1.06379792e-02 1.84293606e-04 9.99943398e-01 -4.70417750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.24, Y:-23.82, Z:-4.71 [[ 9.94668508e-01 1.02652769e-01 9.84723450e-03 1.93238691e+02] [-1.02646089e-01 9.94717237e-01 -1.18271323e-03 -2.38211264e+01] [-9.91662268e-03 1.65627493e-04 9.99950815e-01 -4.70508634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:-23.83, Z:-4.71 [[ 9.94493187e-01 1.04369768e-01 9.50009380e-03 1.93267071e+02] [-1.04363631e-01 9.94538552e-01 -1.14082318e-03 -2.38295972e+01] [-9.56727698e-03 1.43076595e-04 9.99954222e-01 -4.70671246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:-23.84, Z:-4.71 [[ 9.94413248e-01 1.05193869e-01 8.74879843e-03 1.93296759e+02] [-1.05188694e-01 9.94451725e-01 -1.05090397e-03 -2.38365424e+01] [-8.81080635e-03 1.24758148e-04 9.99961176e-01 -4.70711377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.33, Y:-23.84, Z:-4.71 [[ 9.94202122e-01 1.07245663e-01 7.77871390e-03 1.93325483e+02] [-1.07241636e-01 9.94232548e-01 -9.34159645e-04 -2.38442464e+01] [-7.83403511e-03 9.45414944e-05 9.99969309e-01 -4.70912179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.36, Y:-23.85, Z:-4.71 [[ 9.94092120e-01 1.08309676e-01 7.06190948e-03 1.93355905e+02] [-1.08306382e-01 9.94117200e-01 -8.48370931e-04 -2.38503002e+01] [-7.11225247e-03 7.85089920e-05 9.99974705e-01 -4.70926754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29420382200001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:193.39, Y:-23.86, Z:-4.71 [[ 9.93964120e-01 1.09497779e-01 6.75015837e-03 1.93386253e+02] [-1.09494797e-01 9.93987038e-01 -8.10919221e-04 -2.38566846e+01] [-6.79836378e-03 6.69173918e-05 9.99976889e-01 -4.71177192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.42, Y:-23.87, Z:-4.71 [[ 9.93635892e-01 1.12377957e-01 7.67526784e-03 1.93415373e+02] [-1.12374187e-01 9.93665533e-01 -9.22055733e-04 -2.38665478e+01] [-7.73026785e-03 5.36856881e-05 9.99970120e-01 -4.71048954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:-23.87, Z:-4.71 [[ 9.93453138e-01 1.13903843e-01 8.76229821e-03 1.93445282e+02] [-1.13898996e-01 9.93491778e-01 -1.05173904e-03 -2.38716088e+01] [-8.82506834e-03 4.68364721e-05 9.99961057e-01 -4.71051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.48, Y:-23.88, Z:-4.71 [[ 9.93174867e-01 1.16279441e-01 9.09808167e-03 1.93476334e+02] [-1.16274306e-01 9.93216538e-01 -1.09317212e-03 -2.38788046e+01] [-9.16347862e-03 2.78379450e-05 9.99958014e-01 -4.71035197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.51, Y:-23.88, Z:-4.71 [[ 9.93074853e-01 1.17128060e-01 9.12983150e-03 1.93506068e+02] [-1.17122921e-01 9.93116820e-01 -1.09738895e-03 -2.38849049e+01] [-9.19552426e-03 2.04768401e-05 9.99957720e-01 -4.71136812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.54, Y:-23.89, Z:-4.71 [[ 9.92996534e-01 1.17811417e-01 8.85174468e-03 1.93537336e+02] [-1.17806614e-01 9.93035986e-01 -1.06388377e-03 -2.38906531e+01] [-8.91543866e-03 1.36388229e-05 9.99960257e-01 -4.71233160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.57, Y:-23.90, Z:-4.71 [[ 9.92855115e-01 1.19030403e-01 8.39542549e-03 1.93567851e+02] [-1.19026124e-01 9.92890610e-01 -1.00920961e-03 -2.38976213e+01] [-8.45586576e-03 2.72396140e-06 9.99964249e-01 -4.71323977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.60, Y:-23.90, Z:-4.71 [[ 9.92750569e-01 1.19911629e-01 8.21634009e-03 1.93598590e+02] [-1.19907560e-01 9.92784569e-01 -9.87849315e-04 -2.39030420e+01] [-8.27551028e-03 -4.51332379e-06 9.99965757e-01 -4.71397600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:-23.91, Z:-4.71 [[ 9.92672296e-01 1.20553610e-01 8.27884449e-03 1.93629437e+02] [-1.20549499e-01 9.92706818e-01 -9.95569928e-04 -2.39077522e+01] [-8.33848493e-03 -9.73587014e-06 9.99965234e-01 -4.71455189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:-23.91, Z:-4.71 [[ 9.92301230e-01 1.23533448e-01 8.81796473e-03 1.93659693e+02] [-1.23528898e-01 9.92340408e-01 -1.06085234e-03 -2.39125263e+01] [-8.88147347e-03 -3.65883879e-05 9.99960558e-01 -4.71406160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.69, Y:-23.92, Z:-4.71 [[ 9.92070096e-01 1.25356646e-01 9.09040916e-03 1.93691173e+02] [-1.25351888e-01 9.92111742e-01 -1.09356747e-03 -2.39165419e+01] [-9.15578762e-03 -5.46043627e-05 9.99958083e-01 -4.71482985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:-23.92, Z:-4.72 [[ 9.91599508e-01 1.28985574e-01 9.65081975e-03 1.93721687e+02] [-1.28980378e-01 9.91646466e-01 -1.16143971e-03 -2.39186663e+01] [-9.72001026e-03 -9.30833414e-05 9.99952755e-01 -4.71546204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:-23.92, Z:-4.72 [[ 9.91363293e-01 1.30814726e-01 9.29131070e-03 1.93752076e+02] [-1.30809988e-01 9.91406827e-01 -1.11845895e-03 -2.39213029e+01] [-9.35777976e-03 -1.06597096e-04 9.99956209e-01 -4.71608127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.78, Y:-23.92, Z:-4.72 [[ 9.91187655e-01 1.32116454e-01 9.60594573e-03 1.93782005e+02] [-1.32111451e-01 9.91234194e-01 -1.15633373e-03 -2.39239410e+01] [-9.67451258e-03 -1.22911709e-04 9.99953193e-01 -4.71739340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.81, Y:-23.93, Z:-4.72 [[ 9.91066860e-01 1.32997444e-01 9.90751896e-03 1.93811509e+02] [-1.32992164e-01 9.91116371e-01 -1.19280630e-03 -2.39264442e+01] [-9.97814443e-03 -1.35471588e-04 9.99950208e-01 -4.71804838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.84, Y:-23.93, Z:-4.72 [[ 9.91169227e-01 1.32249978e-01 9.66989426e-03 1.93841528e+02] [-1.32244915e-01 9.91216388e-01 -1.16391372e-03 -2.39290226e+01] [-9.73888522e-03 -1.25158890e-04 9.99952568e-01 -4.71878215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:-23.93, Z:-4.72 [[ 9.91692844e-01 1.28304858e-01 9.11957518e-03 1.93872206e+02] [-1.28300190e-01 9.91734771e-01 -1.09749568e-03 -2.39306381e+01] [-9.18501383e-03 -8.16646129e-05 9.99957814e-01 -4.72040710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:-23.93, Z:-4.72 [[ 9.92096996e-01 1.25132160e-01 9.24620451e-03 1.93901201e+02] [-1.25127219e-01 9.92140081e-01 -1.11320460e-03 -2.39332206e+01] [-9.31282778e-03 -5.25449210e-05 9.99956633e-01 -4.72103459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.93, Y:-23.94, Z:-4.72 [[ 9.92563954e-01 1.21310016e-01 1.00337946e-02 1.93931553e+02] [-1.21304005e-01 9.92614668e-01 -1.20771563e-03 -2.39361500e+01] [-1.01061997e-02 -1.84044749e-05 9.99948931e-01 -4.72172412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.96, Y:-23.94, Z:-4.72 [[ 9.93495983e-01 1.13437192e-01 9.88611443e-03 1.93963802e+02] [-1.13430991e-01 9.93545168e-01 -1.18749421e-03 -2.39401420e+01] [-9.95700722e-03 5.83789721e-05 9.99950426e-01 -4.72209706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.00, Y:-23.94, Z:-4.72 [[ 9.93856718e-01 1.10243523e-01 9.75647505e-03 1.93995624e+02] [-1.10237314e-01 9.93904602e-01 -1.17358805e-03 -2.39448257e+01] [-9.82638593e-03 9.08507591e-05 9.99951716e-01 -4.72370867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.03, Y:-23.95, Z:-4.72 [[ 9.94449295e-01 1.04768381e-01 9.70493839e-03 1.94026863e+02] [-1.04761962e-01 9.94496639e-01 -1.16889885e-03 -2.39504392e+01] [-9.77399225e-03 1.45702260e-04 9.99952223e-01 -4.72464508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.06, Y:-23.96, Z:-4.73 [[ 9.94632747e-01 1.03027120e-01 9.54520026e-03 1.94059066e+02] [-1.03020812e-01 9.94678534e-01 -1.15153651e-03 -2.39550675e+01] [-9.61304529e-03 1.62001642e-04 9.99953780e-01 -4.72531389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:-23.96, Z:-4.73 [[ 9.94704731e-01 1.02355096e-01 9.27001793e-03 1.94091208e+02] [-1.02349103e-01 9.94747911e-01 -1.11982682e-03 -2.39601612e+01] [-9.33595095e-03 1.65119020e-04 9.99956405e-01 -4.72578994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:-23.97, Z:-4.73 [[ 9.94686611e-01 1.02522237e-01 9.36683195e-03 1.94123383e+02] [-1.02516111e-01 9.94730699e-01 -1.13315724e-03 -2.39651138e+01] [-9.43364911e-03 1.66885150e-04 9.99955488e-01 -4.72533883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:-23.97, Z:-4.73 [[ 9.94581241e-01 1.03553639e-01 9.20860155e-03 1.94155435e+02] [-1.03547747e-01 9.94623858e-01 -1.11553917e-03 -2.39690238e+01] [-9.27461295e-03 1.55964386e-04 9.99956978e-01 -4.72637311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:-23.97, Z:-4.73 [[ 9.94301581e-01 1.06277986e-01 8.32795838e-03 1.94186267e+02] [-1.06273253e-01 9.94336450e-01 -1.01012873e-03 -2.39741660e+01] [-8.38814702e-03 1.19333367e-04 9.99964812e-01 -4.72714132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.22, Y:-23.98, Z:-4.73 [[ 9.94111117e-01 1.08051370e-01 8.24557328e-03 1.94217665e+02] [-1.08046764e-01 9.94145306e-01 -1.00336469e-03 -2.39787982e+01] [-8.30571290e-03 1.06548483e-04 9.99965501e-01 -4.72820984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.25, Y:-23.98, Z:-4.73 [[ 9.93872634e-01 1.10178633e-01 8.82364637e-03 1.94249011e+02] [-1.10173455e-01 9.93911797e-01 -1.07223777e-03 -2.39831229e+01] [-8.88806391e-03 9.35361664e-05 9.99960496e-01 -4.72924911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:-23.99, Z:-4.73 [[ 9.93417740e-01 1.14115294e-01 9.94453297e-03 1.94279794e+02] [-1.14108893e-01 9.93467511e-01 -1.21056479e-03 -2.39872266e+01] [-1.00177144e-02 6.78368916e-05 9.99949819e-01 -4.72969741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.31, Y:-23.99, Z:-4.73 [[ 9.93141178e-01 1.16457064e-01 1.04092314e-02 1.94311774e+02] [-1.16450162e-01 9.93195726e-01 -1.26879853e-03 -2.39915318e+01] [-1.04861647e-02 4.79393856e-05 9.99945018e-01 -4.72971290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.34, Y:-23.99, Z:-4.73 [[ 9.92542052e-01 1.21413702e-01 1.09082054e-02 1.94342218e+02] [-1.21406376e-01 9.92601991e-01 -1.33372152e-03 -2.39940692e+01] [-1.09894384e-02 -5.50988482e-07 9.99939614e-01 -4.73036350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.37, Y:-24.00, Z:-4.73 [[ 9.92242344e-01 1.23889184e-01 1.03247599e-02 1.94373647e+02] [-1.23882755e-01 9.92296059e-01 -1.26233326e-03 -2.39962968e+01] [-1.04016080e-02 -2.65191961e-05 9.99945901e-01 -4.73111696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.40, Y:-24.00, Z:-4.73 [[ 9.91653107e-01 1.28629823e-01 8.85909250e-03 1.94402955e+02] [-1.28625273e-01 9.91692676e-01 -1.08380895e-03 -2.39986744e+01] [-8.92490730e-03 -6.47406791e-05 9.99960170e-01 -4.73260435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.43, Y:-24.00, Z:-4.73 [[ 9.91435325e-01 1.30332997e-01 8.32503604e-03 1.94432925e+02] [-1.30329042e-01 9.91470274e-01 -1.01820395e-03 -2.40022751e+01] [-8.38673134e-03 -7.55106067e-05 9.99964828e-01 -4.73350874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.46, Y:-24.01, Z:-4.73 [[ 9.91275369e-01 1.31569618e-01 7.91070484e-03 1.94463497e+02] [-1.31566085e-01 9.91306930e-01 -9.67528654e-04 -2.40058613e+01] [-7.96923390e-03 -8.16931461e-05 9.99968242e-01 -4.73488639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.49, Y:-24.01, Z:-4.74 [[ 9.91061965e-01 1.33129156e-01 8.53281324e-03 1.94492692e+02] [-1.33125101e-01 9.91098692e-01 -1.04397994e-03 -2.40080518e+01] [-8.59584421e-03 -1.01282813e-04 9.99963050e-01 -4.73572438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.52, Y:-24.01, Z:-4.74 [[ 9.91035419e-01 1.33337765e-01 8.35699061e-03 1.94521780e+02] [-1.33333886e-01 9.91070648e-01 -1.02209630e-03 -2.40103572e+01] [-8.41865214e-03 -1.01336400e-04 9.99964557e-01 -4.73642699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.55, Y:-24.01, Z:-4.74 [[ 9.91095235e-01 1.32919230e-01 7.91918805e-03 1.94551625e+02] [-1.32915733e-01 9.91126869e-01 -9.68664313e-04 -2.40119697e+01] [-7.97767416e-03 -9.25460981e-05 9.99968174e-01 -4.73739120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:-24.01, Z:-4.74 [[ 9.91177440e-01 1.32284535e-01 8.25129165e-03 1.94580924e+02] [-1.32280718e-01 9.91211780e-01 -1.00908946e-03 -2.40141988e+01] [-8.31226441e-03 -9.13000794e-05 9.99965448e-01 -4.73829881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:-24.02, Z:-4.74 [[ 9.91227161e-01 1.31902605e-01 8.39150887e-03 1.94609900e+02] [-1.31898646e-01 9.91262677e-01 -1.02581835e-03 -2.40167352e+01] [-8.45349766e-03 -9.00096471e-05 9.99964264e-01 -4.73889301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:194.64, Y:-24.02, Z:-4.74 [[ 9.91296571e-01 1.31414041e-01 7.83953587e-03 1.94639940e+02] [-1.31410573e-01 9.91327566e-01 -9.58062428e-04 -2.40196699e+01] [-7.89745086e-03 -8.04738991e-05 9.99968811e-01 -4.74056213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:-24.02, Z:-4.74 [[ 9.91490089e-01 1.29942421e-01 7.89749875e-03 1.94669347e+02] [-1.29938857e-01 9.91521539e-01 -9.64964786e-04 -2.40239568e+01] [-7.95592998e-03 -6.94389384e-05 9.99968349e-01 -4.74087955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:-24.03, Z:-4.74 [[ 9.91586804e-01 1.29185585e-01 8.16671437e-03 1.94699871e+02] [-1.29181746e-01 9.91620432e-01 -9.98139391e-04 -2.40272381e+01] [-8.22722605e-03 -6.52485710e-05 9.99966154e-01 -4.74160002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:-24.03, Z:-4.74 [[ 9.91766519e-01 1.27834149e-01 7.58961375e-03 1.94729716e+02] [-1.27830791e-01 9.91795558e-01 -9.27801439e-04 -2.40285202e+01] [-7.64594991e-03 -5.00239290e-05 9.99970768e-01 -4.74241114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.76, Y:-24.03, Z:-4.74 [[ 9.91845280e-01 1.27224197e-01 7.54610220e-03 1.94758974e+02] [-1.27220860e-01 9.91873985e-01 -9.22587378e-04 -2.40308576e+01] [-7.60215790e-03 -4.49576774e-05 9.99971102e-01 -4.74325886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.79, Y:-24.03, Z:-4.74 [[ 9.91873708e-01 1.26988904e-01 7.76949749e-03 1.94787477e+02] [-1.26985360e-01 9.91904137e-01 -9.49886860e-04 -2.40332329e+01] [-7.82722179e-03 -4.44446297e-05 9.99969366e-01 -4.74397893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.82, Y:-24.04, Z:-4.74 [[ 9.91770120e-01 1.27836407e-01 7.06272454e-03 1.94817492e+02] [-1.27833501e-01 9.91795267e-01 -8.63122441e-04 -2.40358497e+01] [-7.11511524e-03 -4.68337594e-05 9.99974686e-01 -4.74404901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.85, Y:-24.04, Z:-4.74 [[ 9.91650639e-01 1.28768412e-01 6.90692732e-03 1.94846215e+02] [-1.28765656e-01 9.91674691e-01 -8.44132483e-04 -2.40382904e+01] [-6.95812262e-03 -5.22905116e-05 9.99975791e-01 -4.74475231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.88, Y:-24.04, Z:-4.75 [[ 9.91533206e-01 1.29671015e-01 6.87960466e-03 1.94875045e+02] [-1.29668303e-01 9.91557071e-01 -8.40724232e-04 -2.40403953e+01] [-6.93053821e-03 -5.84606678e-05 9.99975982e-01 -4.74552270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:-24.04, Z:-4.75 [[ 9.91537808e-01 1.29635821e-01 6.87966944e-03 1.94904161e+02] [-1.29633111e-01 9.91561673e-01 -8.40193461e-04 -2.40438630e+01] [-6.93053571e-03 -5.87493739e-05 9.99975982e-01 -4.74622752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.93, Y:-24.04, Z:-4.75 [[ 9.91328029e-01 1.31215512e-01 7.15745093e-03 1.94933163e+02] [-1.31212621e-01 9.91353864e-01 -8.74048192e-04 -2.40443680e+01] [-7.21025532e-03 -7.26794272e-05 9.99974003e-01 -4.74656290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:-24.05, Z:-4.75 [[ 9.91289453e-01 1.31517229e-01 6.95979698e-03 1.94961760e+02] [-1.31514505e-01 9.91313882e-01 -8.49606758e-04 -2.40462309e+01] [-7.01108129e-03 -7.31080367e-05 9.99975419e-01 -4.74629738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:-24.05, Z:-4.75 [[ 9.91283926e-01 1.31505469e-01 7.90501310e-03 1.94991098e+02] [-1.31501958e-01 9.91315442e-01 -9.64444151e-04 -2.40462230e+01] [-7.96319124e-03 -8.34867198e-05 9.99968290e-01 -4.74645408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.02, Y:-24.05, Z:-4.75 [[ 9.91306190e-01 1.31290030e-01 8.65826036e-03 1.95018816e+02] [-1.31285814e-01 9.91343997e-01 -1.05598406e-03 -2.40484348e+01] [-8.72195461e-03 -8.99032184e-05 9.99961959e-01 -4.74728063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.05, Y:-24.05, Z:-4.75 [[ 9.91388421e-01 1.30682006e-01 8.43868274e-03 1.95048037e+02] [-1.30677985e-01 9.91424332e-01 -1.02851864e-03 -2.40510569e+01] [-8.50072428e-03 -8.30885821e-05 9.99963865e-01 -4.74767891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.08, Y:-24.05, Z:-4.75 [[ 9.91542401e-01 1.29501067e-01 8.55221095e-03 1.95076369e+02] [-1.29496895e-01 9.91579280e-01 -1.04210056e-03 -2.40525204e+01] [-8.61514831e-03 -7.41978690e-05 9.99962886e-01 -4.74826313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.10, Y:-24.05, Z:-4.75 [[ 9.91580120e-01 1.29205721e-01 8.64568725e-03 1.95104187e+02] [-1.29201452e-01 9.91617808e-01 -1.05289841e-03 -2.40540794e+01] [-8.70925793e-03 -7.30022162e-05 9.99962071e-01 -4.74928485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:195.13, Y:-24.05, Z:-4.75 [[ 9.91654381e-01 1.28653801e-01 8.35387084e-03 1.95132947e+02] [-1.28649800e-01 9.91689566e-01 -1.01677436e-03 -2.40546487e+01] [-8.41525843e-03 -6.64350679e-05 9.99964589e-01 -4.75016713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:-24.06, Z:-4.75 [[ 9.91714826e-01 1.28188726e-01 8.32793497e-03 1.95161096e+02] [-1.28184736e-01 9.91749790e-01 -1.01339109e-03 -2.40573772e+01] [-8.38913308e-03 -6.25191755e-05 9.99964809e-01 -4.75106660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:-24.06, Z:-4.75 [[ 9.91785219e-01 1.27652995e-01 8.17262256e-03 1.95189176e+02] [-1.27649138e-01 9.91818890e-01 -9.93960315e-04 -2.40599945e+01] [-8.23264344e-03 -5.74330733e-05 9.99966110e-01 -4.75148928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:-24.06, Z:-4.75 [[ 9.91972574e-01 1.26180868e-01 8.29465476e-03 1.95218267e+02] [-1.26176849e-01 9.92007251e-01 -1.00813532e-03 -2.40603280e+01] [-8.35556506e-03 -4.65508155e-05 9.99965091e-01 -4.75203817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.25, Y:-24.06, Z:-4.75 [[ 9.92093379e-01 1.25243898e-01 8.04326322e-03 1.95246131e+02] [-1.25240089e-01 9.92125982e-01 -9.77484880e-04 -2.40624884e+01] [-8.10235444e-03 -3.75827249e-05 9.99967175e-01 -4.75252974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:-24.06, Z:-4.75 [[ 9.92283860e-01 1.23778844e-01 7.17905759e-03 1.95274453e+02] [-1.23775776e-01 9.92309829e-01 -8.71865797e-04 -2.40646195e+01] [-7.23176795e-03 -2.34550636e-05 9.99973850e-01 -4.75391435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.30, Y:-24.07, Z:-4.75 [[ 9.92320817e-01 1.23502729e-01 6.81711136e-03 1.95301762e+02] [-1.23499956e-01 9.92344232e-01 -8.27834663e-04 -2.40673141e+01] [-6.86716098e-03 -2.04353868e-05 9.99976421e-01 -4.75487216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.33, Y:-24.07, Z:-4.76 [[ 9.92329938e-01 1.23433148e-01 6.74927934e-03 1.95329918e+02] [-1.23430432e-01 9.92352890e-01 -8.19167271e-04 -2.40698894e+01] [-6.79877925e-03 -2.01822565e-05 9.99976888e-01 -4.75554706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.36, Y:-24.07, Z:-4.76 [[ 9.92287919e-01 1.23738801e-01 7.30720241e-03 1.95358422e+02] [-1.23735627e-01 9.92314823e-01 -8.86611110e-04 -2.40711001e+01] [-7.36075347e-03 -2.43877819e-05 9.99972909e-01 -4.75579560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:-24.07, Z:-4.76 [[ 9.92275140e-01 1.23809953e-01 7.81933750e-03 1.95386974e+02] [-1.23806330e-01 9.92305948e-01 -9.47545879e-04 -2.40735105e+01] [-7.87649072e-03 -2.78572570e-05 9.99968980e-01 -4.75644824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.42, Y:-24.08, Z:-4.76 [[ 9.92391874e-01 1.22874216e-01 7.76499790e-03 1.95416001e+02] [-1.22870617e-01 9.92422252e-01 -9.40619917e-04 -2.40763256e+01] [-7.82173464e-03 -2.06265248e-05 9.99969410e-01 -4.75646930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:-24.08, Z:-4.76 [[ 9.92487175e-01 1.22092904e-01 7.90765941e-03 1.95443677e+02] [-1.22089149e-01 9.92518676e-01 -9.57679532e-04 -2.40794430e+01] [-7.96542553e-03 -1.49547547e-05 9.99968275e-01 -4.75723021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.47, Y:-24.08, Z:-4.76 [[ 9.92629678e-01 1.20922831e-01 7.99943862e-03 1.95472112e+02] [-1.20918955e-01 9.92661911e-01 -9.68084828e-04 -2.40823831e+01] [-8.05780159e-03 -6.33403190e-06 9.99967535e-01 -4.75842122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.50, Y:-24.09, Z:-4.76 [[ 9.92925376e-01 1.18476074e-01 7.91308926e-03 1.95499779e+02] [-1.18472206e-01 9.92956907e-01 -9.57448570e-04 -2.40858813e+01] [-7.97079138e-03 1.31938446e-05 9.99968233e-01 -4.75885236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:-24.09, Z:-4.76 [[ 9.93100409e-01 1.17005389e-01 7.83051358e-03 1.95529509e+02] [-1.17001564e-01 9.93131280e-01 -9.46409657e-04 -2.40900217e+01] [-7.88746300e-03 2.36974812e-05 9.99968893e-01 -4.75983243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:-24.09, Z:-4.76 [[ 9.93460287e-01 1.13884946e-01 8.17782795e-03 1.95557517e+02] [-1.13880668e-01 9.93493944e-01 -9.88348855e-04 -2.40943913e+01] [-8.23718060e-03 5.05888265e-05 9.99966073e-01 -4.76049984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:-24.10, Z:-4.76 [[ 9.93599195e-01 1.12619195e-01 8.80666251e-03 1.95587246e+02] [-1.12614190e-01 9.93638220e-01 -1.06375789e-03 -2.40992232e+01] [-8.87043602e-03 6.51938190e-05 9.99960655e-01 -4.76161466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:-24.10, Z:-4.76 [[ 9.93751976e-01 1.11239188e-01 9.10238736e-03 1.95616335e+02] [-1.11233786e-01 9.93793659e-01 -1.09922816e-03 -2.41040812e+01] [-9.16817209e-03 7.98671464e-05 9.99957968e-01 -4.76206747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.65, Y:-24.11, Z:-4.76 [[ 9.93975633e-01 1.09139739e-01 1.00478283e-02 1.95645153e+02] [-1.09133054e-01 9.94026411e-01 -1.21291725e-03 -2.41109938e+01] [-1.01201842e-02 1.09060001e-04 9.99948784e-01 -4.76231151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.68, Y:-24.12, Z:-4.76 [[ 9.94040600e-01 1.08539351e-01 1.01239970e-02 1.95675515e+02] [-1.08532535e-01 9.94092147e-01 -1.22181390e-03 -2.41162961e+01] [-1.01968008e-02 1.15749558e-04 9.99948005e-01 -4.76305619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.71, Y:-24.12, Z:-4.76 [[ 9.94067193e-01 1.08417477e-01 8.72165552e-03 1.95705827e+02] [-1.08412414e-01 9.94105447e-01 -1.05257241e-03 -2.41221083e+01] [-8.78436251e-03 1.00791968e-04 9.99961412e-01 -4.76394198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:-24.13, Z:-4.76 [[ 9.94011907e-01 1.08984223e-01 7.92257751e-03 1.95735252e+02] [-1.08980062e-01 9.94043476e-01 -9.56332893e-04 -2.41268487e+01] [-7.97961168e-03 8.72032956e-05 9.99968159e-01 -4.76468114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.76, Y:-24.13, Z:-4.77 [[ 9.93897216e-01 1.10027693e-01 7.88868485e-03 1.95763142e+02] [-1.10023598e-01 9.93928519e-01 -9.52534121e-04 -2.41318753e+01] [-7.94559398e-03 7.87795196e-05 9.99968430e-01 -4.76591227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.79, Y:-24.14, Z:-4.77 [[ 9.93612351e-01 1.12555552e-01 8.10830524e-03 1.95792268e+02] [-1.12551314e-01 9.93645432e-01 -9.78543927e-04 -2.41390880e+01] [-8.16692101e-03 5.96929247e-05 9.99966648e-01 -4.76645638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:-24.14, Z:-4.77 [[ 9.93388362e-01 1.14487669e-01 8.49333686e-03 1.95821036e+02] [-1.14483090e-01 9.93424668e-01 -1.02496080e-03 -2.41439249e+01] [-8.55483573e-03 4.58406800e-05 9.99963406e-01 -4.76709782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:-24.15, Z:-4.77 [[ 9.93172555e-01 1.16345697e-01 8.48256931e-03 1.95850683e+02] [-1.16341202e-01 9.93208779e-01 -1.02315173e-03 -2.41482291e+01] [-8.54400161e-03 2.92939141e-05 9.99963499e-01 -4.76767041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.88, Y:-24.15, Z:-4.77 [[ 9.92687747e-01 1.20401560e-01 8.63144951e-03 1.95878483e+02] [-1.20397059e-01 9.92725271e-01 -1.04107178e-03 -2.41534597e+01] [-8.69400473e-03 -5.74193279e-06 9.99962206e-01 -4.76907677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:-24.16, Z:-4.77 [[ 9.92457942e-01 1.22293441e-01 8.45856365e-03 1.95907529e+02] [-1.22289192e-01 9.92493987e-01 -1.01973808e-03 -2.41579188e+01] [-8.51978084e-03 -2.23437538e-05 9.99963706e-01 -4.77024153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.94, Y:-24.16, Z:-4.77 [[ 9.92004337e-01 1.25921778e-01 8.43214108e-03 1.95936981e+02] [-1.25917687e-01 9.92040172e-01 -1.01634897e-03 -2.41622894e+01] [-8.49300316e-03 -5.35331147e-05 9.99963932e-01 -4.77137313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.97, Y:-24.17, Z:-4.77 [[ 9.91790646e-01 1.27633370e-01 7.81267234e-03 1.95966407e+02] [-1.27629912e-01 9.91821415e-01 -9.41546520e-04 -2.41659946e+01] [-7.86894849e-03 -6.33136559e-05 9.99969037e-01 -4.77202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.99, Y:-24.17, Z:-4.77 [[ 9.91374541e-01 1.30755711e-01 8.91428501e-03 1.95994717e+02] [-1.30751337e-01 9.91414613e-01 -1.07418479e-03 -2.41714693e+01] [-8.97820822e-03 -1.00635235e-04 9.99959690e-01 -4.77288782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.02, Y:-24.17, Z:-4.77 [[ 9.91201377e-01 1.32058678e-01 8.96296935e-03 1.96022941e+02] [-1.32054313e-01 9.91241894e-01 -1.07970349e-03 -2.41747268e+01] [-9.02705494e-03 -1.13395175e-04 9.99959249e-01 -4.77380271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:196.05, Y:-24.18, Z:-4.77 [[ 9.91078883e-01 1.33036951e-01 7.98856073e-03 1.96051781e+02] [-1.33033516e-01 9.91111072e-01 -9.62301534e-04 -2.41771860e+01] [-8.04557266e-03 -1.09029590e-04 9.99967628e-01 -4.77457135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.08, Y:-24.18, Z:-4.78 [[ 9.90743783e-01 1.35495930e-01 8.22252313e-03 1.96080301e+02] [-1.35492379e-01 9.90777894e-01 -9.90057784e-04 -2.41790447e+01] [-8.28084295e-03 -1.33195623e-04 9.99965704e-01 -4.77546435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.11, Y:-24.18, Z:-4.78 [[ 9.90604797e-01 1.36519855e-01 8.02903290e-03 1.96108673e+02] [-1.36516505e-01 9.90637325e-01 -9.66418548e-04 -2.41807181e+01] [-8.08579499e-03 -1.38756661e-04 9.99967300e-01 -4.77638564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:-24.18, Z:-4.78 [[ 9.90592713e-01 1.36667094e-01 6.94136262e-03 1.96136229e+02] [-1.36664594e-01 9.90617025e-01 -8.35520618e-04 -2.41819244e+01] [-6.99042017e-03 -1.20977866e-04 9.99975559e-01 -4.77807753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:-24.18, Z:-4.78 [[ 9.90761000e-01 1.35421141e-01 7.33175388e-03 1.96164446e+02] [-1.35418322e-01 9.90788121e-01 -8.81774882e-04 -2.41846529e+01] [-7.38362561e-03 -1.19225646e-04 9.99972734e-01 -4.77911249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:-24.19, Z:-4.78 [[ 9.90998102e-01 1.33627738e-01 8.14796195e-03 1.96193595e+02] [-1.33624201e-01 9.91031591e-01 -9.79436904e-04 -2.41870481e+01] [-8.20576763e-03 -1.18144790e-04 9.99966325e-01 -4.77973053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:-24.19, Z:-4.78 [[ 9.91277910e-01 1.31523074e-01 8.35380932e-03 1.96222342e+02] [-1.31519284e-01 9.91313104e-01 -1.00380234e-03 -2.41890933e+01] [-8.41326382e-03 -1.03639935e-04 9.99964602e-01 -4.78017286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.25, Y:-24.19, Z:-4.78 [[ 9.91810213e-01 1.27453533e-01 8.25215369e-03 1.96250640e+02] [-1.27449699e-01 9.91844540e-01 -9.91009956e-04 -2.41896928e+01] [-8.31116130e-03 -6.88407099e-05 9.99965459e-01 -4.78106236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:-24.19, Z:-4.78 [[ 9.92301359e-01 1.23497735e-01 9.29102227e-03 1.96279582e+02] [-1.23492705e-01 9.92344853e-01 -1.11531752e-03 -2.41917776e+01] [-9.35763731e-03 -4.06423875e-05 9.99956216e-01 -4.78138350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:-24.19, Z:-4.78 [[ 9.92519258e-01 1.21722714e-01 9.43949901e-03 1.96309058e+02] [-1.21717447e-01 9.92564144e-01 -1.13262167e-03 -2.41947679e+01] [-9.50717404e-03 -2.48029070e-05 9.99954805e-01 -4.78179120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:-24.20, Z:-4.78 [[ 9.92693959e-01 1.20275478e-01 9.61842733e-03 1.96338239e+02] [-1.20269943e-01 9.92740555e-01 -1.15386550e-03 -2.41976144e+01] [-9.68738461e-03 -1.13723951e-05 9.99953076e-01 -4.78209279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:-24.20, Z:-4.78 [[ 9.92958770e-01 1.17985524e-01 1.05970342e-02 1.96367306e+02] [-1.17978677e-01 9.93015315e-01 -1.27110186e-03 -2.41993095e+01] [-1.06729889e-02 1.19276641e-05 9.99943042e-01 -4.78232100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:-24.20, Z:-4.78 [[ 9.93087539e-01 1.16849517e-01 1.11054138e-02 1.96395857e+02] [-1.16841932e-01 9.93149631e-01 -1.33161171e-03 -2.42018836e+01] [-1.11849358e-02 2.48290022e-05 9.99937446e-01 -4.78343651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:-24.20, Z:-4.78 [[ 9.93218831e-01 1.15722031e-01 1.11698424e-02 1.96425775e+02] [-1.15714293e-01 9.93281637e-01 -1.33878760e-03 -2.42045628e+01] [-1.12497266e-02 3.71986369e-05 9.99936719e-01 -4.78390333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:-24.21, Z:-4.78 [[ 9.93466150e-01 1.13620098e-01 1.07462563e-02 1.96455337e+02] [-1.13612821e-01 9.93524267e-01 -1.28727019e-03 -2.42065447e+01] [-1.08229262e-02 5.79468674e-05 9.99941429e-01 -4.78481426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:-24.21, Z:-4.79 [[ 9.93592284e-01 1.12541921e-01 1.04254420e-02 1.96484216e+02] [-1.12535003e-01 9.93646975e-01 -1.24964143e-03 -2.42095828e+01] [-1.04998459e-02 6.84069411e-05 9.99944873e-01 -4.78551168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:-24.21, Z:-4.79 [[ 9.93774524e-01 1.10990277e-01 9.66195792e-03 1.96512617e+02] [-1.10984266e-01 9.93821489e-01 -1.15783850e-03 -2.42127064e+01] [-9.73077022e-03 7.83050987e-05 9.99952652e-01 -4.78579528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.54, Y:-24.22, Z:-4.79 [[ 9.93843035e-01 1.10420827e-01 9.12479134e-03 1.96541640e+02] [-1.10415445e-01 9.93884920e-01 -1.09303207e-03 -2.42161186e+01] [-9.18968602e-03 7.87844070e-05 9.99957771e-01 -4.78642229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:-24.22, Z:-4.79 [[ 9.93877401e-01 1.10126079e-01 8.94201207e-03 1.96570429e+02] [-1.10120902e-01 9.93917623e-01 -1.07073808e-03 -2.42198883e+01] [-9.00553956e-03 7.94799486e-05 9.99959446e-01 -4.78743831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:-24.22, Z:-4.79 [[ 9.93944526e-01 1.09559525e-01 8.42558366e-03 1.96599599e+02] [-1.09554908e-01 9.93980233e-01 -1.00900063e-03 -2.42225561e+01] [-8.48540924e-03 7.98266075e-05 9.99963995e-01 -4.78798951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:196.63, Y:-24.23, Z:-4.79 [[ 9.93934556e-01 1.09692987e-01 7.84517785e-03 1.96627923e+02] [-1.09688989e-01 9.93965514e-01 -9.39369280e-04 -2.42251630e+01] [-7.90087846e-03 7.31419594e-05 9.99968785e-01 -4.78957851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:196.66, Y:-24.23, Z:-4.79 [[ 9.93862326e-01 1.10312801e-01 8.29236212e-03 1.96656985e+02] [-1.10308359e-01 9.93896917e-01 -9.92631992e-04 -2.42303627e+01] [-8.35125316e-03 7.18226867e-05 9.99965125e-01 -4.79010665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:196.69, Y:-24.23, Z:-4.79 [[ 9.93866556e-01 1.10274684e-01 8.29235981e-03 1.96686931e+02] [-1.10270240e-01 9.93901146e-01 -9.92651363e-04 -2.42338946e+01] [-8.35125024e-03 7.21624882e-05 9.99965125e-01 -4.79083149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.72, Y:-24.24, Z:-4.79 [[ 9.93839011e-01 1.10496086e-01 8.63918353e-03 1.96715958e+02] [-1.10491276e-01 9.93876557e-01 -1.03357726e-03 -2.42388990e+01] [-8.70048822e-03 7.26549917e-05 9.99962147e-01 -4.79065899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.74, Y:-24.24, Z:-4.79 [[ 9.93789993e-01 1.10954233e-01 8.40291529e-03 1.96744256e+02] [-1.10949698e-01 9.93825515e-01 -1.00530612e-03 -2.42431637e+01] [-8.46257458e-03 6.67622464e-05 9.99964190e-01 -4.79123746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:-24.25, Z:-4.79 [[ 9.93647263e-01 1.12274624e-01 7.71532271e-03 1.96773269e+02] [-1.12270844e-01 9.93677214e-01 -9.22634582e-04 -2.42464033e+01] [-7.77012883e-03 5.05675332e-05 9.99969811e-01 -4.79152857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:196.80, Y:-24.25, Z:-4.79 [[ 9.93600321e-01 1.12697796e-01 7.59003248e-03 1.96801731e+02] [-1.12694150e-01 9.93629309e-01 -9.07673034e-04 -2.42492437e+01] [-7.64397149e-03 4.65119569e-05 9.99970783e-01 -4.79369781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:-24.26, Z:-4.79 [[ 9.93592807e-01 1.12651103e-01 9.11388054e-03 1.96830419e+02] [-1.12689171e-01 9.93623116e-01 3.77551104e-03 -2.42568861e+01] [-8.63044689e-03 -4.77835626e-03 9.99951340e-01 -4.79440145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.86, Y:-24.26, Z:-4.79 [[ 9.93534396e-01 1.13357805e-01 6.27784500e-03 1.96860914e+02] [-1.13323749e-01 9.93542674e-01 -5.53927293e-03 -2.42557604e+01] [-6.86522673e-03 4.79202926e-03 9.99964952e-01 -4.79435357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:-24.26, Z:-4.80 [[ 9.93414187e-01 1.14386997e-01 6.62329996e-03 1.96888580e+02] [-1.14384263e-01 9.93436266e-01 -7.91464321e-04 -2.42627802e+01] [-6.67035961e-03 2.86506025e-05 9.99977752e-01 -4.79533143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.92, Y:-24.27, Z:-4.79 [[ 9.93126403e-01 1.16853415e-01 6.72511824e-03 1.96918063e+02] [-1.16850653e-01 9.93149173e-01 -8.03432567e-04 -2.42681497e+01] [-6.77292945e-03 1.20756360e-05 9.99977063e-01 -4.79493095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:-24.27, Z:-4.80 [[ 9.92987225e-01 1.17984579e-01 7.48397544e-03 1.96946396e+02] [-1.17981191e-01 9.93015427e-01 -8.94040517e-04 -2.42726431e+01] [-7.53718606e-03 4.80247380e-06 9.99971595e-01 -4.79511866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:-24.28, Z:-4.79 [[ 9.92798310e-01 1.19487891e-01 8.61165307e-03 1.96974288e+02] [-1.19483467e-01 9.92835658e-01 -1.02828437e-03 -2.42776637e+01] [-8.67282377e-03 -8.07117488e-06 9.99962390e-01 -4.79459917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:-24.28, Z:-4.79 [[ 9.92785820e-01 1.19600014e-01 8.49420583e-03 1.97004127e+02] [-1.19595718e-01 9.92822158e-01 -1.01380059e-03 -2.42815467e+01] [-8.55448632e-03 -9.38379182e-06 9.99963410e-01 -4.79496811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.03, Y:-24.28, Z:-4.80 [[ 9.92816056e-01 1.19325180e-01 8.81926213e-03 1.97033794e+02] [-1.19320540e-01 9.92855227e-01 -1.05235758e-03 -2.42848949e+01] [-8.88182326e-03 -7.52161197e-06 9.99960556e-01 -4.79730911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.06, Y:-24.29, Z:-4.80 [[ 9.92921831e-01 1.18305562e-01 1.04896404e-02 1.97061591e+02] [-1.18298943e-01 9.92977237e-01 -1.25146199e-03 -2.42908566e+01] [-1.05640291e-02 1.69056000e-06 9.99944199e-01 -4.79684688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:-24.30, Z:-4.80 [[ 9.92978161e-01 1.17824441e-01 1.05722787e-02 1.97091461e+02] [-1.17817699e-01 9.93034441e-01 -1.26042076e-03 -2.42968846e+01] [-1.06471453e-02 5.96873820e-06 9.99943318e-01 -4.79742224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:-24.30, Z:-4.80 [[ 9.93021889e-01 1.17518251e-01 9.84825685e-03 1.97120943e+02] [-1.17512395e-01 9.93070723e-01 -1.17326256e-03 -2.43031214e+01] [-9.91789531e-03 7.78316354e-06 9.99950816e-01 -4.79803792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.15, Y:-24.31, Z:-4.80 [[ 9.92973306e-01 1.17947105e-01 9.61735027e-03 1.97151491e+02] [-1.17941527e-01 9.93019879e-01 -1.14714901e-03 -2.43074960e+01] [-9.68552291e-03 4.80337183e-06 9.99953094e-01 -4.79842608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:-24.31, Z:-4.80 [[ 9.92837646e-01 1.19051862e-01 1.00031286e-02 1.97180635e+02] [-1.19045881e-01 9.92888037e-01 -1.19333711e-03 -2.43120170e+01] [-1.00740557e-02 -6.04124799e-06 9.99949255e-01 -4.79919664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:-24.32, Z:-4.80 [[ 9.92619628e-01 1.20879059e-01 9.72246810e-03 1.97210289e+02] [-1.20873500e-01 9.92667242e-01 -1.15956672e-03 -2.43169782e+01] [-9.79134293e-03 -2.41800602e-05 9.99952063e-01 -4.79963070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.24, Y:-24.32, Z:-4.80 [[ 9.91963061e-01 1.26172043e-01 9.48166579e-03 1.97240157e+02] [-1.26166993e-01 9.92008372e-01 -1.13120702e-03 -2.43203431e+01] [-9.54861854e-03 -7.41576813e-05 9.99954408e-01 -4.80005265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.27, Y:-24.32, Z:-4.80 [[ 9.91153009e-01 1.32369462e-01 9.69737834e-03 1.97268959e+02] [-1.32364477e-01 9.91200437e-01 -1.15686303e-03 -2.43210185e+01] [-9.76517899e-03 -1.36960146e-04 9.99952310e-01 -4.80119595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.30, Y:-24.32, Z:-4.80 [[ 9.90747108e-01 1.35420212e-01 9.02964181e-03 1.97297457e+02] [-1.35416018e-01 9.90788243e-01 -1.07708446e-03 -2.43235833e+01] [-9.09232195e-03 -1.55639822e-04 9.99958652e-01 -4.80206859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:197.33, Y:-24.33, Z:-4.80 [[ 9.90338517e-01 1.38444551e-01 7.92015825e-03 1.97325757e+02] [-1.38441423e-01 9.90370173e-01 -9.44540594e-04 -2.43257714e+01] [-7.97465500e-03 -1.61063047e-04 9.99968189e-01 -4.80409967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344203822 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:197.35, Y:-24.33, Z:-4.81 [[ 9.90047495e-01 1.40533280e-01 7.50698916e-03 1.97353466e+02] [-1.40530530e-01 9.90075941e-01 -8.95149310e-04 -2.43272738e+01] [-7.55828763e-03 -1.68720835e-04 9.99971422e-01 -4.80576474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:-24.33, Z:-4.81 [[ 9.89838617e-01 1.42012823e-01 7.20209244e-03 1.97382151e+02] [-1.42010336e-01 9.89864803e-01 -8.58197429e-04 -2.43283987e+01] [-7.25097286e-03 -1.73294608e-04 9.99973696e-01 -4.80533058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:-24.33, Z:-4.81 [[ 9.89825380e-01 1.42081449e-01 7.65374182e-03 1.97410248e+02] [-1.42078644e-01 9.89854953e-01 -9.11839738e-04 -2.43310002e+01] [-7.70564976e-03 -1.84871142e-04 9.99970294e-01 -4.80537328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:-24.33, Z:-4.81 [[ 9.89878241e-01 1.41637437e-01 8.93895429e-03 1.97439196e+02] [-1.41633602e-01 9.89918578e-01 -1.06382534e-03 -2.43314193e+01] [-8.99951441e-03 -2.12998736e-04 9.99959481e-01 -4.80562870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:-24.33, Z:-4.81 [[ 9.89950118e-01 1.41134304e-01 8.93717361e-03 1.97467576e+02] [-1.41130454e-01 9.89990437e-01 -1.06318263e-03 -2.43326543e+01] [-8.99776795e-03 -2.08809594e-04 9.99959497e-01 -4.80632539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:-24.33, Z:-4.81 [[ 9.89997957e-01 1.40792873e-01 9.02288401e-03 1.97496234e+02] [-1.40788938e-01 9.90039052e-01 -1.07295472e-03 -2.43340623e+01] [-9.08407191e-03 -2.08099278e-04 9.99958717e-01 -4.80714981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:-24.33, Z:-4.81 [[ 9.90036989e-01 1.40473042e-01 9.69974503e-03 1.97524075e+02] [-1.40468483e-01 9.90084479e-01 -1.15312105e-03 -2.43329954e+01] [-9.76554942e-03 -2.20875975e-04 9.99952291e-01 -4.80767939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:-24.33, Z:-4.81 [[ 9.90054553e-01 1.40360106e-01 9.54055516e-03 1.97551760e+02] [-1.40355697e-01 9.90100497e-01 -1.13349665e-03 -2.43332077e+01] [-9.60520611e-03 -2.16847747e-04 9.99953845e-01 -4.80826780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:-24.33, Z:-4.81 [[ 9.90171476e-01 1.39540781e-01 9.42439407e-03 1.97580766e+02] [-1.39536448e-01 9.90216303e-01 -1.11899220e-03 -2.43316925e+01] [-9.48833370e-03 -2.07052317e-04 9.99954963e-01 -4.80949765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:-24.33, Z:-4.81 [[ 9.90238208e-01 1.39045295e-01 9.73125169e-03 1.97609636e+02] [-1.39040656e-01 9.90286000e-01 -1.15494100e-03 -2.43331639e+01] [-9.79731143e-03 -2.09372909e-04 9.99951983e-01 -4.81026077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:-24.33, Z:-4.81 [[ 9.90379458e-01 1.37992972e-01 1.03183554e-02 1.97637333e+02] [-1.37987703e-01 9.90433186e-01 -1.22421527e-03 -2.43315809e+01] [-1.03885748e-02 -2.11368510e-04 9.99946015e-01 -4.81096093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.67, Y:-24.33, Z:-4.81 [[ 9.90518317e-01 1.36951869e-01 1.08466237e-02 1.97666388e+02] [-1.36945994e-01 9.90577680e-01 -1.28601362e-03 -2.43316141e+01] [-1.09205453e-02 -2.11581619e-04 9.99940347e-01 -4.81108982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:-24.33, Z:-4.81 [[ 9.90676431e-01 1.35751161e-01 1.14817939e-02 1.97694855e+02] [-1.35744504e-01 9.90742942e-01 -1.36083605e-03 -2.43315037e+01] [-1.15602414e-02 -2.10442216e-04 9.99933156e-01 -4.81178887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:-24.33, Z:-4.81 [[ 9.90873113e-01 1.34321816e-01 1.13191369e-02 1.97722659e+02] [-1.34315260e-01 9.90937744e-01 -1.34087629e-03 -2.43318641e+01] [-1.13966690e-02 -1.91694566e-04 9.99935037e-01 -4.81252057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:-24.33, Z:-4.81 [[ 9.91157311e-01 1.32307835e-01 1.00906870e-02 1.97751757e+02] [-1.32302527e-01 9.91208663e-01 -1.19475376e-03 -2.43303801e+01] [-1.01600517e-02 -1.50834470e-04 9.99948374e-01 -4.81391486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:-24.33, Z:-4.82 [[ 9.91400757e-01 1.30554073e-01 8.95396309e-03 1.97780158e+02] [-1.30549823e-01 9.91441183e-01 -1.06003580e-03 -2.43285797e+01] [-9.01571975e-03 -1.18018009e-04 9.99959351e-01 -4.81523752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:-24.33, Z:-4.82 [[ 9.91518430e-01 1.29685835e-01 8.53148506e-03 1.97808376e+02] [-1.29681949e-01 9.91555129e-01 -1.00952330e-03 -2.43293092e+01] [-8.59035864e-03 -1.05418655e-04 9.99963097e-01 -4.81619654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.84, Y:-24.33, Z:-4.82 [[ 9.91645261e-01 1.28728229e-01 8.28972750e-03 1.97837754e+02] [-1.28724531e-01 9.91679905e-01 -9.80310928e-04 -2.43295434e+01] [-8.34694987e-03 -9.49706020e-05 9.99965159e-01 -4.81665884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.87, Y:-24.33, Z:-4.82 [[ 9.91732461e-01 1.28027870e-01 8.69428020e-03 1.97865406e+02] [-1.28023778e-01 9.91770566e-01 -1.02783845e-03 -2.43285838e+01] [-8.75432316e-03 -9.37338408e-05 9.99961676e-01 -4.81730806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:-24.33, Z:-4.82 [[ 9.91876722e-01 1.26913751e-01 8.57130503e-03 1.97895029e+02] [-1.26909739e-01 9.91913753e-01 -1.01259383e-03 -2.43256509e+01] [-8.63050742e-03 -8.34138320e-05 9.99962753e-01 -4.81881753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.92, Y:-24.33, Z:-4.82 [[ 9.92183335e-01 1.24519330e-01 8.19553064e-03 1.97923327e+02] [-1.24515582e-01 9.92217180e-01 -9.68031740e-04 -2.43270232e+01] [-8.25228496e-03 -6.00063028e-05 9.99965948e-01 -4.82060470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.95, Y:-24.33, Z:-4.82 [[ 9.92382477e-01 1.22889664e-01 8.66894649e-03 1.97950772e+02] [-1.22885413e-01 9.92420338e-01 -1.02330270e-03 -2.43282469e+01] [-8.72899213e-03 -4.97794073e-05 9.99961900e-01 -4.82126045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.98, Y:-24.33, Z:-4.82 [[ 9.92587224e-01 1.21173214e-01 9.36245792e-03 1.97979584e+02] [-1.21168188e-01 9.92631377e-01 -1.10431051e-03 -2.43290067e+01] [-9.42728235e-03 -3.83075621e-05 9.99955561e-01 -4.82176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.01, Y:-24.33, Z:-4.82 [[ 9.92781285e-01 1.19522074e-01 9.98973167e-03 1.98007227e+02] [-1.19516273e-01 9.92831543e-01 -1.17788647e-03 -2.43301936e+01] [-1.00589041e-02 -2.45518470e-05 9.99949408e-01 -4.82259232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:-24.33, Z:-4.82 [[ 9.93141471e-01 1.16474562e-01 1.01830449e-02 1.98035658e+02] [-1.16468382e-01 9.93193675e-01 -1.19982043e-03 -2.43311718e+01] [-1.02534843e-02 5.58866920e-06 9.99947432e-01 -4.82414071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:-24.33, Z:-4.83 [[ 9.93427085e-01 1.14133032e-01 8.73369315e-03 1.98062977e+02] [-1.14128397e-01 9.93465475e-01 -1.02897043e-03 -2.43330049e+01] [-8.79406213e-03 2.54446978e-05 9.99961331e-01 -4.82596713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:-24.34, Z:-4.83 [[ 9.93525463e-01 1.13341482e-01 7.80151209e-03 1.98091593e+02] [-1.13337763e-01 9.93556092e-01 -9.18691171e-04 -2.43367247e+01] [-7.85536569e-03 2.85371448e-05 9.99969146e-01 -4.82760166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:-24.34, Z:-4.83 [[ 9.93636977e-01 1.12215677e-01 9.65397377e-03 1.98119612e+02] [-1.12267931e-01 9.93665134e-01 5.05100257e-03 -2.43434707e+01] [-9.02601548e-03 -6.10269458e-03 9.99940642e-01 -4.82976848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:-24.34, Z:-4.83 [[ 9.93697043e-01 1.11845319e-01 7.53737014e-03 1.98147148e+02] [-1.11792849e-01 9.93706471e-01 -7.05746101e-03 -2.43378516e+01] [-8.27927746e-03 6.17035405e-03 9.99946689e-01 -4.82894224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:-24.34, Z:-4.83 [[ 9.93769719e-01 1.11113791e-01 8.68742343e-03 1.98175339e+02] [-1.11109108e-01 9.93807689e-01 -1.02132077e-03 -2.43438143e+01] [-8.74711102e-03 4.97057847e-05 9.99961742e-01 -4.82955393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:-24.35, Z:-4.83 [[ 9.93870700e-01 1.10163076e-01 9.22655260e-03 1.98202488e+02] [-1.10157757e-01 9.93913524e-01 -1.08435228e-03 -2.43468283e+01] [-9.28985099e-03 6.13296232e-05 9.99956847e-01 -4.83050857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:-24.35, Z:-4.83 [[ 9.94085557e-01 1.08184520e-01 9.48759060e-03 1.98231301e+02] [-1.08178813e-01 9.94130828e-01 -1.11421526e-03 -2.43524070e+01] [-9.55244714e-03 8.12690086e-05 9.99954371e-01 -4.83138568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:-24.36, Z:-4.83 [[ 9.94177784e-01 1.07323148e-01 9.60604970e-03 1.98259467e+02] [-1.07317261e-01 9.94224187e-01 -1.12765412e-03 -2.43571354e+01] [-9.67159034e-03 9.01937313e-05 9.99953225e-01 -4.83217443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.29, Y:-24.36, Z:-4.83 [[ 9.94335490e-01 1.05817759e-01 9.97671547e-03 1.98287927e+02] [-1.05811338e-01 9.94385534e-01 -1.17066070e-03 -2.43636606e+01] [-1.00445782e-02 1.08379860e-04 9.99949546e-01 -4.83345242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.32, Y:-24.37, Z:-4.83 [[ 9.94377182e-01 1.05433011e-01 9.89443574e-03 1.98315099e+02] [-1.05426681e-01 9.94426401e-01 -1.16070731e-03 -2.43675987e+01] [-9.96166500e-03 1.11043351e-04 9.99950375e-01 -4.83421196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:-24.37, Z:-4.84 [[ 9.94406325e-01 1.05200033e-01 9.43475660e-03 1.98343617e+02] [-1.05194273e-01 9.94451075e-01 -1.10614314e-03 -2.43714276e+01] [-9.49877015e-03 1.07473374e-04 9.99954880e-01 -4.83504497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.37, Y:-24.38, Z:-4.84 [[ 9.94500509e-01 1.04372991e-01 8.66118180e-03 1.98371628e+02] [-1.04368107e-01 9.94538218e-01 -1.01512671e-03 -2.43784051e+01] [-8.71982812e-03 1.05592880e-04 9.99961976e-01 -4.83675287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:-24.38, Z:-4.84 [[ 9.94555395e-01 1.03867873e-01 8.42805442e-03 1.98399755e+02] [-1.03863234e-01 9.94591099e-01 -9.87415490e-04 -2.43842415e+01] [-8.48502865e-03 1.06674415e-04 9.99963996e-01 -4.83794258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.43, Y:-24.39, Z:-4.84 [[ 9.94600797e-01 1.03411704e-01 8.67603235e-03 1.98426398e+02] [-1.03406773e-01 9.94638631e-01 -1.01618961e-03 -2.43930926e+01] [-8.73460284e-03 1.13542484e-04 9.99961846e-01 -4.83840983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:-24.41, Z:-4.84 [[ 9.94449426e-01 1.04076643e-01 1.54399030e-02 1.98452561e+02] [-1.04305339e-01 9.94434769e-01 1.48285541e-02 -2.44084892e+01] [-1.38106703e-02 -1.63567114e-02 9.99770835e-01 -4.84146275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.48, Y:-24.39, Z:-4.84 [[ 9.94297706e-01 1.06363573e-01 7.67214577e-03 1.98484614e+02] [-1.06216432e-01 9.94188140e-01 -1.75502798e-02 -2.43944225e+01] [-9.49426680e-03 1.66352950e-02 9.99816546e-01 -4.83811316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:-24.41, Z:-4.84 [[ 9.93791559e-01 1.10791027e-01 1.01826252e-02 1.98511306e+02] [-1.10784643e-01 9.93843723e-01 -1.19064049e-03 -2.44090242e+01] [-1.02518504e-02 5.51699766e-05 9.99947447e-01 -4.83876742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:-24.41, Z:-4.84 [[ 9.93795430e-01 1.10756288e-01 1.01827353e-02 1.98540438e+02] [-1.10749911e-01 9.93847595e-01 -1.18969741e-03 -2.44123419e+01] [-1.02518535e-02 5.45788139e-05 9.99947447e-01 -4.83947389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:-24.42, Z:-4.84 [[ 9.93467444e-01 1.13631906e-01 1.04989475e-02 1.98568917e+02] [-1.13625291e-01 9.93522918e-01 -1.22642554e-03 -2.44170152e+01] [-1.05703060e-02 2.54678891e-05 9.99944132e-01 -4.84018995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:-24.42, Z:-4.84 [[ 9.92837058e-01 1.19011780e-01 1.05248510e-02 1.98597184e+02] [-1.19005439e-01 9.92892842e-01 -1.22894375e-03 -2.44240917e+01] [-1.05963080e-02 -3.23736174e-05 9.99943857e-01 -4.84172808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.62, Y:-24.43, Z:-4.84 [[ 9.92596303e-01 1.20988633e-01 1.06925159e-02 1.98624492e+02] [-1.20982207e-01 9.92653891e-01 -1.24822339e-03 -2.44292221e+01] [-1.07649884e-02 -5.46222507e-05 9.99942054e-01 -4.84258575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:-24.43, Z:-4.84 [[ 9.92381056e-01 1.22722504e-01 1.09098972e-02 1.98653279e+02] [-1.22715930e-01 9.92441022e-01 -1.27255999e-03 -2.44339911e+01] [-1.09836013e-02 -7.59537548e-05 9.99939676e-01 -4.84326387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:-24.45, Z:-4.84 [[ 9.92003392e-01 1.25713885e-01 1.11932617e-02 1.98680881e+02] [-1.25868269e-01 9.91943022e-01 1.43603484e-02 -2.44467786e+01] [-9.29778264e-03 -1.56543908e-02 9.99834232e-01 -4.83564805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:-24.44, Z:-4.84 [[ 9.91830321e-01 1.27233781e-01 9.17488395e-03 1.98709982e+02] [-1.27211373e-01 9.91871129e-01 -2.98828607e-03 -2.44395698e+01] [-9.48051343e-03 1.79672315e-03 9.99953445e-01 -4.83646810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:-24.44, Z:-4.84 [[ 9.91386761e-01 1.30695714e-01 8.42142911e-03 1.98738116e+02] [-1.30554541e-01 9.91318921e-01 -1.55662996e-02 -2.44355891e+01] [-1.03827706e-02 1.43327675e-02 9.99843373e-01 -4.84321889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.76, Y:-24.45, Z:-4.85 [[ 9.91251062e-01 1.31577648e-01 1.04237345e-02 1.98764368e+02] [-1.31572151e-01 9.91305853e-01 -1.21436412e-03 -2.44469627e+01] [-1.04928922e-02 -1.67733445e-04 9.99944934e-01 -4.84504616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.79, Y:-24.45, Z:-4.85 [[ 9.91124583e-01 1.32525247e-01 1.04459975e-02 1.98793381e+02] [-1.32519787e-01 9.91179614e-01 -1.21620973e-03 -2.44502661e+01] [-1.05150383e-02 -1.78886004e-04 9.99944699e-01 -4.84596484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.82, Y:-24.45, Z:-4.85 [[ 9.91025134e-01 1.33290957e-01 1.01342894e-02 1.98820825e+02] [-1.33285862e-01 9.91076933e-01 -1.17960213e-03 -2.44516092e+01] [-1.02010907e-02 -1.81742132e-04 9.99947951e-01 -4.84635781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.85, Y:-24.45, Z:-4.85 [[ 9.91024947e-01 1.33314798e-01 9.83462525e-03 1.98849321e+02] [-1.33310008e-01 9.91073727e-01 -1.14398306e-03 -2.44530946e+01] [-9.89934858e-03 -1.77338215e-04 9.99950985e-01 -4.84755533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.88, Y:-24.45, Z:-4.85 [[ 9.91050053e-01 1.33213180e-01 8.60468899e-03 1.98877803e+02] [-1.33209510e-01 9.91087395e-01 -1.00080497e-03 -2.44520326e+01] [-8.66131921e-03 -1.54378583e-04 9.99962478e-01 -4.84841854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.91, Y:-24.45, Z:-4.85 [[ 9.91117042e-01 1.32767351e-01 7.73554350e-03 1.98907088e+02] [-1.32764376e-01 9.91147220e-01 -8.99181628e-04 -2.44534030e+01] [-7.78644440e-03 -1.35810367e-04 9.99969676e-01 -4.84938195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:-24.46, Z:-4.85 [[ 9.91235895e-01 1.31897654e-01 7.37625330e-03 1.98934837e+02] [-1.31894925e-01 9.91263332e-01 -8.57294733e-04 -2.44551886e+01] [-7.42488459e-03 -1.23109065e-04 9.99972428e-01 -4.85036770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:198.96, Y:-24.46, Z:-4.85 [[ 9.91636759e-01 1.28889084e-01 6.64400618e-03 1.98963356e+02] [-1.28886805e-01 9.91659012e-01 -7.71769029e-04 -2.44572946e+01] [-6.68806121e-03 -9.10101922e-05 9.99977631e-01 -4.85291372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:-24.46, Z:-4.85 [[ 9.91940848e-01 1.26508830e-01 6.99075107e-03 1.98991057e+02] [-1.26506250e-01 9.91965478e-01 -8.11825620e-04 -2.44593625e+01] [-7.03728684e-03 -7.90907088e-05 9.99975235e-01 -4.85265588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:-24.46, Z:-4.85 [[ 9.92235550e-01 1.24165217e-01 7.18421309e-03 1.99019386e+02] [-1.24162436e-01 9.92261556e-01 -8.33611460e-04 -2.44613145e+01] [-7.23212400e-03 -6.48704704e-05 9.99973846e-01 -4.85293813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:-24.46, Z:-4.85 [[ 9.92784209e-01 1.19636223e-01 8.16623940e-03 1.99046875e+02] [-1.19632480e-01 9.92817794e-01 -9.47175163e-04 -2.44623180e+01] [-8.22090425e-03 -3.66069229e-05 9.99966207e-01 -4.85400198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.08, Y:-24.46, Z:-4.85 [[ 9.93224749e-01 1.15969363e-01 7.46357623e-03 1.99075383e+02] [-1.15966136e-01 9.93252791e-01 -8.65123330e-04 -2.44649465e+01] [-7.51354573e-03 -6.26019486e-06 9.99971773e-01 -4.85459373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.10, Y:-24.47, Z:-4.86 [[ 9.93326112e-01 1.15146107e-01 6.67903055e-03 1.99104173e+02] [-1.15143506e-01 9.93348566e-01 -7.73982449e-04 -2.44670650e+01] [-6.72372649e-03 -2.30017621e-07 9.99977395e-01 -4.85752050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:-24.48, Z:-4.85 [[ 9.93485994e-01 1.13786548e-01 6.18071549e-03 1.99132280e+02] [-1.13858141e-01 9.93414171e-01 1.28300191e-02 -2.44765368e+01] [-4.68012676e-03 -1.34501690e-02 9.99898590e-01 -4.85008693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:-24.46, Z:-4.86 [[ 9.93443688e-01 1.14208861e-01 5.09649061e-03 1.99162141e+02] [-1.14127463e-01 9.93365762e-01 -1.41204037e-02 -2.44636780e+01] [-6.67535451e-03 1.34461764e-02 9.99887314e-01 -4.85599768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.19, Y:-24.47, Z:-4.86 [[ 9.93468051e-01 1.13947145e-01 6.10572361e-03 1.99190635e+02] [-1.13944954e-01 9.93486813e-01 -7.06636275e-04 -2.44722923e+01] [-6.14647508e-03 6.30416648e-06 9.99981110e-01 -4.85692403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:-24.47, Z:-4.86 [[ 9.93452344e-01 1.14100146e-01 5.79637492e-03 1.99218822e+02] [-1.14098172e-01 9.93469253e-01 -6.71070061e-04 -2.44710772e+01] [-5.83508945e-03 5.32034135e-06 9.99982976e-01 -4.85762600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:-24.47, Z:-4.86 [[ 9.93506914e-01 1.13597849e-01 6.28817326e-03 1.99246834e+02] [-1.13595522e-01 9.93526813e-01 -7.27195186e-04 -2.44743629e+01] [-6.33007655e-03 8.16512350e-06 9.99979965e-01 -4.85894183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:-24.48, Z:-4.86 [[ 9.93577468e-01 1.12980097e-01 6.26993475e-03 1.99275638e+02] [-1.12977774e-01 9.93597251e-01 -7.24535479e-04 -2.44788499e+01] [-6.31164802e-03 1.15188551e-05 9.99980081e-01 -4.85988672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.30, Y:-24.48, Z:-4.86 [[ 9.93681939e-01 1.12055692e-01 6.30277793e-03 1.99302838e+02] [-1.12053327e-01 9.93701928e-01 -7.28213683e-04 -2.44820788e+01] [-6.34468307e-03 1.73655468e-05 9.99979872e-01 -4.86043076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.33, Y:-24.48, Z:-4.86 [[ 9.93828735e-01 1.10774385e-01 5.78633452e-03 1.99331461e+02] [-1.10772373e-01 9.93845579e-01 -6.68063961e-04 -2.44830308e+01] [-5.82472736e-03 2.29751547e-05 9.99983036e-01 -4.86050685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:-24.49, Z:-4.86 [[ 9.94008691e-01 1.09111838e-01 6.42870946e-03 1.99359549e+02] [-1.09109321e-01 9.94029479e-01 -7.41992164e-04 -2.44860142e+01] [-6.47128685e-03 3.61145336e-05 9.99979060e-01 -4.86052029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:-24.49, Z:-4.86 [[ 9.94142361e-01 1.07860990e-01 6.85367171e-03 1.99387044e+02] [-1.07858103e-01 9.94165985e-01 -7.90523847e-04 -2.44893502e+01] [-6.89895397e-03 4.66692160e-05 9.99976201e-01 -4.86131101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:-24.49, Z:-4.86 [[ 9.94299789e-01 1.06413694e-01 6.63740001e-03 1.99416145e+02] [-1.06410958e-01 9.94321941e-01 -7.65006232e-04 -2.44926061e+01] [-6.68111961e-03 5.43534394e-05 9.99977680e-01 -4.86186475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.44, Y:-24.50, Z:-4.86 [[ 9.94563873e-01 1.03925805e-01 6.49066775e-03 1.99444480e+02] [-1.03923137e-01 9.94585050e-01 -7.47890190e-04 -2.44969530e+01] [-6.53324620e-03 6.92940123e-05 9.99978656e-01 -4.86479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.47, Y:-24.50, Z:-4.86 [[ 9.94702865e-01 1.02527143e-01 7.37525909e-03 1.99472286e+02] [-1.02523662e-01 9.94730203e-01 -8.49506454e-04 -2.45010496e+01] [-7.42349044e-03 8.88679365e-05 9.99972442e-01 -4.86321092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.50, Y:-24.51, Z:-4.86 [[ 9.94958836e-01 1.00004199e-01 7.48834294e-03 1.99500166e+02] [-1.00000544e-01 9.94987009e-01 -8.61836605e-04 -2.45072793e+01] [-7.53699122e-03 1.08653577e-04 9.99971591e-01 -4.86373301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.53, Y:-24.51, Z:-4.86 [[ 9.95082395e-01 9.88225769e-02 6.71751797e-03 1.99528859e+02] [-9.88196103e-02 9.95105063e-01 -7.72919735e-04 -2.45122696e+01] [-6.76101807e-03 1.05296313e-04 9.99977139e-01 -4.86440121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:-24.52, Z:-4.86 [[ 9.95210701e-01 9.75599824e-02 6.14080542e-03 1.99556887e+02] [-9.76220699e-02 9.95165102e-01 1.07866663e-02 -2.45238006e+01] [-5.05876828e-03 -1.13344838e-02 9.99922966e-01 -4.86051326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:-24.52, Z:-4.87 [[ 9.95272405e-01 9.69978011e-02 4.92603705e-03 1.99585294e+02] [-9.69329419e-02 9.95218139e-01 -1.20358181e-02 -2.45181506e+01] [-6.06992932e-03 1.15014224e-02 9.99915433e-01 -4.86511401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:-24.53, Z:-4.87 [[ 9.95270606e-01 9.69255651e-02 6.46956172e-03 1.99611583e+02] [-9.69227778e-02 9.95291627e-01 -7.43718828e-04 -2.45305297e+01] [-6.51118598e-03 1.13153595e-04 9.99978796e-01 -4.86647969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:-24.54, Z:-4.87 [[ 9.95052946e-01 9.91210335e-02 6.68242411e-03 1.99639300e+02] [-9.91181147e-02 9.95075379e-01 -7.67373009e-04 -2.45387552e+01] [-6.72557851e-03 1.01227494e-04 9.99977378e-01 -4.86617947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:-24.54, Z:-4.87 [[ 9.94854741e-01 1.01126241e-01 6.12603421e-03 1.99668043e+02] [-1.01123828e-01 9.94873598e-01 -7.03296202e-04 -2.45438158e+01] [-6.16575140e-03 8.01895332e-05 9.99980988e-01 -4.86673480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:-24.55, Z:-4.87 [[ 9.94610529e-01 1.03536128e-01 5.49238278e-03 1.99696304e+02] [-1.03534225e-01 9.94625692e-01 -6.30426978e-04 -2.45489411e+01] [-5.52813699e-03 5.83797168e-05 9.99984718e-01 -4.86699214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.72, Y:-24.56, Z:-4.87 [[ 9.94023906e-01 1.09033549e-01 5.30648890e-03 1.99724614e+02] [-1.09031853e-01 9.94038070e-01 -6.08866703e-04 -2.45552059e+01] [-5.34123888e-03 2.66517428e-05 9.99985735e-01 -4.86709610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.75, Y:-24.56, Z:-4.87 [[ 9.93711290e-01 1.11832694e-01 5.59654608e-03 1.99752370e+02] [-1.11830851e-01 9.93727049e-01 -6.42020267e-04 -2.45589818e+01] [-5.63323808e-03 1.21162753e-05 9.99984133e-01 -4.86787444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:-24.56, Z:-4.87 [[ 9.93052153e-01 1.17559887e-01 5.20522298e-03 1.99780949e+02] [-1.17558374e-01 9.93065795e-01 -5.96685943e-04 -2.45640671e+01] [-5.23927522e-03 -1.93772887e-05 9.99986275e-01 -4.86841918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.81, Y:-24.57, Z:-4.87 [[ 9.92754342e-01 1.20064591e-01 4.82810104e-03 1.99809143e+02] [-1.20063320e-01 9.92766082e-01 -5.53332952e-04 -2.45692298e+01] [-4.85961064e-03 -3.03541472e-05 9.99988192e-01 -4.86910259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:-24.57, Z:-4.87 [[ 9.92476155e-01 1.22327897e-01 5.19309786e-03 1.99837223e+02] [-1.22326459e-01 9.92489740e-01 -5.94818955e-04 -2.45740941e+01] [-5.22685930e-03 -4.49096437e-05 9.99986339e-01 -4.86935990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:-24.58, Z:-4.87 [[ 9.91852799e-01 1.27245597e-01 6.04838780e-03 1.99865071e+02] [-1.27243740e-01 9.91871237e-01 -6.92500277e-04 -2.45783635e+01] [-6.08733951e-03 -8.27611461e-05 9.99981469e-01 -4.86957095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.89, Y:-24.58, Z:-4.87 [[ 9.91571953e-01 1.29428566e-01 5.77131380e-03 1.99894080e+02] [-1.29426915e-01 9.91588744e-01 -6.60268920e-04 -2.45818214e+01] [-5.80822746e-03 -9.22591965e-05 9.99983128e-01 -4.86990217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:-24.58, Z:-4.87 [[ 9.91320940e-01 1.31341759e-01 5.66889061e-03 1.99921960e+02] [-1.31340198e-01 9.91337143e-01 -6.48499858e-04 -2.45846739e+01] [-5.70495693e-03 -1.01681724e-04 9.99983721e-01 -4.87089390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:-24.59, Z:-4.87 [[ 9.91073138e-01 1.33183680e-01 6.01183462e-03 1.99949821e+02] [-1.33181960e-01 9.91091365e-01 -6.87256350e-04 -2.45871685e+01] [-6.04980870e-03 -1.19546613e-04 9.99981693e-01 -4.87218805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-24.59, Z:-4.87 [[ 9.91125522e-01 1.32774614e-01 6.41105022e-03 1.99977540e+02] [-1.32772653e-01 9.91146249e-01 -7.32408709e-04 -2.45908737e+01] [-6.45153366e-03 -1.25303184e-04 9.99979181e-01 -4.87285195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.01, Y:-24.60, Z:-4.87 [[ 9.91553075e-01 1.29506074e-01 7.11874818e-03 2.00005802e+02] [-1.29503577e-01 9.91578622e-01 -8.12532855e-04 -2.45959268e+01] [-7.16402645e-03 -1.16233901e-04 9.99974331e-01 -4.87260316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.03, Y:-24.60, Z:-4.87 [[ 9.91834943e-01 1.27299036e-01 7.64204982e-03 2.00033674e+02] [-1.27296094e-01 9.91864378e-01 -8.72065881e-04 -2.45995184e+01] [-7.69089014e-03 -1.07857682e-04 9.99970419e-01 -4.87318389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.06, Y:-24.60, Z:-4.87 [[ 9.92094796e-01 1.25271544e-01 7.41326950e-03 2.00062276e+02] [-1.25268724e-01 9.92122489e-01 -8.45277014e-04 -2.46028789e+01] [-7.46076054e-03 -9.00558865e-05 9.99972164e-01 -4.87383702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:-24.61, Z:-4.87 [[ 9.92533900e-01 1.21793548e-01 6.54128016e-03 2.00089821e+02] [-1.21791278e-01 9.92555454e-01 -7.45857365e-04 -2.46065226e+01] [-6.58342391e-03 -5.63821485e-05 9.99978327e-01 -4.87499540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382200002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:200.12, Y:-24.61, Z:-4.88 [[ 9.92741909e-01 1.20135197e-01 5.57109617e-03 2.00118543e+02] [-1.20133526e-01 9.92757540e-01 -6.34876455e-04 -2.46109478e+01] [-5.60701873e-03 -3.90069621e-05 9.99984280e-01 -4.87821039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:-24.62, Z:-4.88 [[ 9.93218286e-01 1.16133338e-01 5.52117828e-03 2.00146124e+02] [-1.16131634e-01 9.93233632e-01 -6.29223288e-04 -2.46175242e+01] [-5.55689375e-03 -1.62273800e-05 9.99984560e-01 -4.87719632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.17, Y:-24.62, Z:-4.88 [[ 9.93447304e-01 1.14104357e-01 6.53065182e-03 2.00174435e+02] [-1.14101937e-01 9.93468769e-01 -7.43212062e-04 -2.46217033e+01] [-6.57280236e-03 -6.81800158e-06 9.99978399e-01 -4.87787321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.20, Y:-24.63, Z:-4.88 [[ 9.93684550e-01 1.12005562e-01 6.76531920e-03 2.00202885e+02] [-1.12002919e-01 9.93707580e-01 -7.69558981e-04 -2.46257122e+01] [-6.80894385e-03 6.96337272e-06 9.99976819e-01 -4.87831438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:-24.63, Z:-4.88 [[ 9.94021343e-01 1.08984323e-01 6.63230623e-03 2.00231877e+02] [-1.08981717e-01 9.94043468e-01 -7.54151024e-04 -2.46298713e+01] [-6.67499132e-03 2.68420950e-05 9.99977722e-01 -4.87846801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:-24.63, Z:-4.88 [[ 9.94110681e-01 1.08178101e-01 6.43832891e-03 2.00260443e+02] [-1.08175630e-01 9.94131529e-01 -7.31816454e-04 -2.46329439e+01] [-6.47971228e-03 3.10362699e-05 9.99979006e-01 -4.87948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:-24.64, Z:-4.88 [[ 9.94114474e-01 1.08143236e-01 6.43838540e-03 2.00289588e+02] [-1.08140767e-01 9.94135323e-01 -7.31318807e-04 -2.46361668e+01] [-6.47971353e-03 3.07626749e-05 9.99979006e-01 -4.88015938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.32, Y:-24.64, Z:-4.88 [[ 9.94122836e-01 1.08100713e-01 5.83289375e-03 2.00319154e+02] [-1.08098688e-01 9.94139947e-01 -6.62229153e-04 -2.46396993e+01] [-5.87030013e-03 2.78089619e-05 9.99982769e-01 -4.88238571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:-24.64, Z:-4.88 [[ 9.93987136e-01 1.09380695e-01 5.04345515e-03 2.00348026e+02] [-1.09379197e-01 9.93999931e-01 -5.72771402e-04 -2.46435183e+01] [-5.07584421e-03 1.76783307e-05 9.99987118e-01 -4.88233427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:-24.65, Z:-4.88 [[ 9.93963433e-01 1.09625750e-01 4.34622458e-03 2.00375663e+02] [-1.09668245e-01 9.93905321e-01 1.11842924e-02 -2.46538623e+01] [-3.09364930e-03 -1.15934205e-02 9.99928008e-01 -4.87783784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.40, Y:-24.65, Z:-4.88 [[ 9.93831438e-01 1.10846955e-01 3.46767506e-03 2.00404247e+02] [-1.10798024e-01 9.93769837e-01 -1.20544587e-02 -2.46465398e+01] [-4.78227091e-03 1.15958885e-02 9.99921330e-01 -4.88413034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.43, Y:-24.66, Z:-4.88 [[ 9.93909962e-01 1.10085793e-01 4.90976499e-03 2.00431027e+02] [-1.10084380e-01 9.93922089e-01 -5.57904393e-04 -2.46579059e+01] [-4.94134123e-03 1.40182994e-05 9.99987791e-01 -4.88472246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:-24.66, Z:-4.89 [[ 9.93998914e-01 1.09297363e-01 4.49954272e-03 2.00459802e+02] [-1.09296171e-01 9.94009098e-01 -5.10915608e-04 -2.46623562e+01] [-4.52842813e-03 1.60667710e-05 9.99989746e-01 -4.88571585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:-24.67, Z:-4.89 [[ 9.94277944e-01 1.06743320e-01 4.15138577e-03 2.00488929e+02] [-1.06742285e-01 9.94286610e-01 -4.70844561e-04 -2.46685424e+01] [-4.17792679e-03 2.50219607e-05 9.99991272e-01 -4.88680201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:-24.67, Z:-4.89 [[ 9.94419743e-01 1.05411815e-01 4.20994020e-03 2.00518060e+02] [-1.05410739e-01 9.94428654e-01 -4.77375656e-04 -2.46738406e+01] [-4.23680621e-03 3.09388688e-05 9.99991024e-01 -4.88764762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:-24.68, Z:-4.89 [[ 9.94680647e-01 1.02887040e-01 4.96659752e-03 2.00546418e+02] [-1.02885510e-01 9.94693045e-01 -5.63169075e-04 -2.46818412e+01] [-4.99818281e-03 4.91824609e-05 9.99987508e-01 -4.88843330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.58, Y:-24.69, Z:-4.89 [[ 9.94758573e-01 1.02146954e-01 4.62400452e-03 2.00575597e+02] [-1.02145621e-01 9.94769319e-01 -5.23983814e-04 -2.46890369e+01] [-4.65334118e-03 4.89155749e-05 9.99989172e-01 -4.88852101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:-24.70, Z:-4.89 [[ 9.94775825e-01 1.01984067e-01 4.50635957e-03 2.00604657e+02] [-1.01982801e-01 9.94786031e-01 -5.10324966e-04 -2.46962360e+01] [-4.53490857e-03 4.80877678e-05 9.99989716e-01 -4.88914364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:-24.70, Z:-4.89 [[ 9.94590631e-01 1.03805306e-01 3.73299405e-03 2.00633656e+02] [-1.03804452e-01 9.94597636e-01 -4.22246846e-04 -2.47028170e+01] [-3.75665852e-03 3.24613555e-05 9.99992943e-01 -4.88940389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.66, Y:-24.71, Z:-4.89 [[ 9.94425353e-01 1.05383327e-01 3.54565099e-03 2.00663411e+02] [-1.05382565e-01 9.94431674e-01 -4.01832347e-04 -2.47066242e+01] [-3.56825408e-03 2.59424789e-05 9.99993633e-01 -4.89003290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:-24.71, Z:-4.89 [[ 9.93984613e-01 1.09460444e-01 3.60550016e-03 2.00692125e+02] [-1.09459682e-01 9.93991152e-01 -4.08529420e-04 -2.47127752e+01] [-3.62855307e-03 1.14150545e-05 9.99993417e-01 -4.89124547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:-24.72, Z:-4.89 [[ 9.93763439e-01 1.11434553e-01 4.07034672e-03 2.00720129e+02] [-1.11433599e-01 9.93771775e-01 -4.61256525e-04 -2.47177426e+01] [-4.09639560e-03 4.80648816e-06 9.99991610e-01 -4.89194537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:-24.72, Z:-4.89 [[ 9.93546260e-01 1.13337516e-01 4.52062073e-03 2.00749312e+02] [-1.13336361e-01 9.93556545e-01 -5.11779587e-04 -2.47224155e+01] [-4.54949614e-03 -3.87400578e-06 9.99989651e-01 -4.89240772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:200.78, Y:-24.73, Z:-4.89 [[ 9.93169338e-01 1.16568690e-01 5.13878547e-03 2.00777765e+02] [-1.16567240e-01 9.93182632e-01 -5.81776015e-04 -2.47273814e+01] [-5.17156935e-03 -2.12119408e-05 9.99986627e-01 -4.89496928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:-24.73, Z:-4.89 [[ 9.93033398e-01 1.17667119e-01 6.25459973e-03 2.00805958e+02] [-1.17664996e-01 9.93053094e-01 -7.07494050e-04 -2.47312335e+01] [-6.29439840e-03 -3.33822348e-05 9.99980190e-01 -4.89306919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:-24.74, Z:-4.89 [[ 9.92819394e-01 1.19431239e-01 6.76977801e-03 2.00834834e+02] [-1.19428796e-01 9.92842473e-01 -7.65501445e-04 -2.47364449e+01] [-6.81274793e-03 -4.85017536e-05 9.99976792e-01 -4.89312099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.86, Y:-24.74, Z:-4.89 [[ 9.92772837e-01 1.19809612e-01 6.91015975e-03 2.00864461e+02] [-1.19807078e-01 9.92796885e-01 -7.81006096e-04 -2.47409403e+01] [-6.95395711e-03 -5.25244069e-05 9.99975820e-01 -4.89383696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:-24.75, Z:-4.89 [[ 9.92741765e-01 1.20095970e-01 6.38324047e-03 2.00894040e+02] [-1.20093816e-01 9.92762285e-01 -7.21199827e-04 -2.47464083e+01] [-6.42365360e-03 -5.06225147e-05 9.99979367e-01 -4.89439997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:-24.76, Z:-4.90 [[ 9.92803046e-01 1.19597802e-01 6.20298702e-03 2.00924078e+02] [-1.19595757e-01 9.92822423e-01 -7.00834190e-04 -2.47562158e+01] [-6.24228283e-03 -4.60606103e-05 9.99980516e-01 -4.89561302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:-24.76, Z:-4.90 [[ 9.92879048e-01 1.18966418e-01 6.17952880e-03 2.00954849e+02] [-1.18964379e-01 9.92898278e-01 -6.97770651e-04 -2.47619748e+01] [-6.21865478e-03 -4.23419470e-05 9.99980663e-01 -4.89619506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:-24.77, Z:-4.90 [[ 9.93037936e-01 1.17608034e-01 6.63392092e-03 2.00985310e+02] [-1.17605657e-01 9.93060093e-01 -7.48705927e-04 -2.47657088e+01] [-6.67593596e-03 -3.66932379e-05 9.99977715e-01 -4.89697784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.02, Y:-24.77, Z:-4.90 [[ 9.93113210e-01 1.16988204e-01 6.31768292e-03 2.01016420e+02] [-1.16986030e-01 9.93133304e-01 -7.13916800e-04 -2.47706530e+01] [-6.35782116e-03 -3.00804372e-05 9.99979788e-01 -4.89764458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.05, Y:-24.78, Z:-4.90 [[ 9.93236231e-01 1.15956571e-01 5.98860917e-03 2.01047367e+02] [-1.15954613e-01 9.93254284e-01 -6.74268079e-04 -2.47820844e+01] [-6.02639753e-03 -2.46993731e-05 9.99981841e-01 -4.89853570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.08, Y:-24.79, Z:-4.90 [[ 9.93270690e-01 1.15650992e-01 6.17942830e-03 2.01078020e+02] [-1.15648892e-01 9.93289911e-01 -6.97201843e-04 -2.47894796e+01] [-6.21859587e-03 -2.21338823e-05 9.99980664e-01 -4.90219463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:-24.80, Z:-4.90 [[ 9.93307762e-01 1.15328155e-01 6.25345908e-03 2.01109214e+02] [-1.15325993e-01 9.93327447e-01 -7.06436131e-04 -2.47962708e+01] [-6.29320452e-03 -1.94778881e-05 9.99980197e-01 -4.89991137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:-24.80, Z:-4.90 [[ 9.93318306e-01 1.15198091e-01 6.93852832e-03 2.01140237e+02] [-1.15195416e-01 9.93342539e-01 -7.85293044e-04 -2.48038538e+01] [-6.98279960e-03 -1.92407011e-05 9.99975620e-01 -4.90017064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:-24.81, Z:-4.90 [[ 9.93267251e-01 1.15656040e-01 6.62185348e-03 2.01172371e+02] [-1.15653607e-01 9.93289323e-01 -7.50410699e-04 -2.48099075e+01] [-6.66420589e-03 -2.04828704e-05 9.99977794e-01 -4.90050926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:-24.82, Z:-4.90 [[ 9.93118629e-01 1.16962812e-01 5.92358767e-03 2.01204667e+02] [-1.16960885e-01 9.93136295e-01 -6.71868732e-04 -2.48172816e+01] [-5.96151357e-03 -2.55827057e-05 9.99982230e-01 -4.90136415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.24, Y:-24.82, Z:-4.90 [[ 9.93005343e-01 1.17947957e-01 5.35424971e-03 2.01237085e+02] [-1.17946394e-01 9.93019778e-01 -6.07873273e-04 -2.48230375e+01] [-5.38857327e-03 -2.78930368e-05 9.99985481e-01 -4.90456135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:-24.83, Z:-4.90 [[ 9.92869088e-01 1.19089434e-01 5.35548777e-03 2.01268352e+02] [-1.19087880e-01 9.92883531e-01 -6.09316610e-04 -2.48300069e+01] [-5.38993878e-03 -3.28020558e-05 9.99985474e-01 -4.90350024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:-24.84, Z:-4.90 [[ 9.92750558e-01 1.20102885e-01 4.65042226e-03 2.01300541e+02] [-1.20101723e-01 9.92761450e-01 -5.29256237e-04 -2.48374639e+01] [-4.68032515e-03 -3.31043025e-05 9.99989047e-01 -4.90389222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:201.33, Y:-24.85, Z:-4.91 [[ 9.92528627e-01 1.21954353e-01 3.74986520e-03 2.01332991e+02] [-1.21953611e-01 9.92535710e-01 -4.26629911e-04 -2.48463364e+01] [-3.77390449e-03 -3.38672023e-05 9.99992878e-01 -4.90644781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:-24.85, Z:-4.91 [[ 9.92417502e-01 1.22849590e-01 3.93459397e-03 2.01364904e+02] [-1.22848774e-01 9.92425300e-01 -4.49103372e-04 -2.48517317e+01] [-3.95996277e-03 -3.76620011e-05 9.99992159e-01 -4.90507328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.40, Y:-24.86, Z:-4.91 [[ 9.92159904e-01 1.24925272e-01 3.52146672e-03 2.01397386e+02] [-1.24924633e-01 9.92166153e-01 -4.01641900e-04 -2.48593882e+01] [-3.54405531e-03 -4.14249488e-05 9.99993719e-01 -4.90555157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:-24.87, Z:-4.91 [[ 9.92007668e-01 1.26098473e-01 4.46777556e-03 2.01429399e+02] [-1.26097447e-01 9.92017728e-01 -5.11902732e-04 -2.48651618e+01] [-4.49666271e-03 -5.55636540e-05 9.99989888e-01 -4.90611750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:-24.87, Z:-4.91 [[ 9.91813682e-01 1.27538225e-01 6.29456565e-03 2.01461699e+02] [-1.27536199e-01 9.91833652e-01 -7.23954570e-04 -2.48710311e+01] [-6.33549392e-03 -8.47569286e-05 9.99979927e-01 -4.90627986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.49, Y:-24.88, Z:-4.91 [[ 9.91281141e-01 1.31496563e-01 8.38774245e-03 2.01493592e+02] [-1.31493081e-01 9.91316616e-01 -9.67720042e-04 -2.48785150e+01] [-8.44216032e-03 -1.43647467e-04 9.99964354e-01 -4.90559566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:-24.88, Z:-4.91 [[ 9.90967232e-01 1.33839315e-01 8.42511463e-03 2.01525117e+02] [-1.33835863e-01 9.91003033e-01 -9.74708109e-04 -2.48829500e+01] [-8.47976842e-03 -1.61678689e-04 9.99964033e-01 -4.90575228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.56, Y:-24.89, Z:-4.91 [[ 9.90284250e-01 1.38747947e-01 9.27962092e-03 2.01557896e+02] [-1.38743972e-01 9.90327702e-01 -1.07387734e-03 -2.48865371e+01] [-9.33886393e-03 -2.24047651e-04 9.99956367e-01 -4.90613741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.59, Y:-24.89, Z:-4.91 [[ 9.89939454e-01 1.41166845e-01 9.58124531e-03 2.01590744e+02] [-1.41162701e-01 9.89985787e-01 -1.11076526e-03 -2.48905680e+01] [-9.64209991e-03 -2.52924111e-04 9.99953482e-01 -4.90701352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.62, Y:-24.89, Z:-4.91 [[ 9.89387731e-01 1.45072960e-01 8.10891933e-03 2.01622700e+02] [-1.45070114e-01 9.89420930e-01 -9.41191606e-04 -2.48923764e+01] [-8.15967596e-03 -2.45158428e-04 9.99966679e-01 -4.90815459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.66, Y:-24.89, Z:-4.91 [[ 9.89174074e-01 1.46565868e-01 7.28677181e-03 2.01655530e+02] [-1.46563604e-01 9.89200886e-01 -8.46611051e-04 -2.48948214e+01] [-7.33216541e-03 -2.30529838e-04 9.99973093e-01 -4.90911606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.69, Y:-24.90, Z:-4.91 [[ 9.89020586e-01 1.47615327e-01 6.92793132e-03 2.01688817e+02] [-1.47613299e-01 9.89044824e-01 -8.05973517e-04 -2.48982204e+01] [-6.97100866e-03 -2.25530397e-04 9.99975677e-01 -4.91023665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.72, Y:-24.90, Z:-4.91 [[ 9.88922474e-01 1.48275551e-01 6.83389981e-03 2.01720127e+02] [-1.48273583e-01 9.88946060e-01 -7.96490462e-04 -2.49019002e+01] [-6.87645836e-03 -2.25619493e-04 9.99976331e-01 -4.91089216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:-24.90, Z:-4.91 [[ 9.88881998e-01 1.48580451e-01 6.02019426e-03 2.01752663e+02] [-1.48578924e-01 9.88900303e-01 -7.02513916e-04 -2.49026514e+01] [-6.05775176e-03 -1.99770620e-04 9.99981632e-01 -4.91084950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.79, Y:-24.90, Z:-4.91 [[ 9.88941774e-01 1.48186599e-01 5.90754156e-03 2.01785029e+02] [-1.48185117e-01 9.88959400e-01 -6.90168248e-04 -2.49005738e+01] [-5.94459244e-03 -1.92873527e-04 9.99982312e-01 -4.91135206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.82, Y:-24.90, Z:-4.91 [[ 9.89016090e-01 1.47653923e-01 6.74487484e-03 2.01816095e+02] [-1.47651966e-01 9.89039065e-01 -7.89861731e-04 -2.49015075e+01] [-6.78757090e-03 -2.14708073e-04 9.99976941e-01 -4.91207374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.85, Y:-24.90, Z:-4.91 [[ 9.89138180e-01 1.46825363e-01 6.92622865e-03 2.01847437e+02] [-1.46823257e-01 9.89162407e-01 -8.14353053e-04 -2.49022031e+01] [-6.97073269e-03 -2.11423754e-04 9.99975682e-01 -4.91183298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.88, Y:-24.90, Z:-4.91 [[ 9.89300782e-01 1.45713153e-01 7.18613776e-03 2.01878828e+02] [-1.45710855e-01 9.89326858e-01 -8.45099726e-04 -2.49029210e+01] [-7.23258124e-03 -2.11040461e-04 9.99973822e-01 -4.91228679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.91, Y:-24.90, Z:-4.91 [[ 9.89711312e-01 1.42925865e-01 6.61180112e-03 2.01910822e+02] [-1.42923873e-01 9.89733381e-01 -7.75266173e-04 -2.49024640e+01] [-6.65472587e-03 -1.77694522e-04 9.99977841e-01 -4.91254928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.94, Y:-24.90, Z:-4.91 [[ 9.89929230e-01 1.41404560e-01 6.69858445e-03 2.01941844e+02] [-1.41402471e-01 9.89951879e-01 -7.86839709e-04 -2.49039555e+01] [-6.74253899e-03 -1.68280765e-04 9.99977255e-01 -4.91345207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.97, Y:-24.90, Z:-4.91 [[ 9.90378375e-01 1.38233612e-01 6.49176775e-03 2.01973738e+02] [-1.38231562e-01 9.90399641e-01 -7.65673427e-04 -2.49016869e+01] [-6.53528625e-03 -1.39060791e-04 9.99978635e-01 -4.91399261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:-24.90, Z:-4.91 [[ 9.90585466e-01 1.36746342e-01 6.39322946e-03 2.02004861e+02] [-1.36744319e-01 9.90606088e-01 -7.54589829e-04 -2.49021483e+01] [-6.43635942e-03 -1.26752089e-04 9.99979278e-01 -4.91403238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.04, Y:-24.90, Z:-4.91 [[ 9.90799764e-01 1.35183521e-01 6.42203709e-03 2.02035163e+02] [-1.35181446e-01 9.90820570e-01 -7.57989981e-04 -2.49023901e+01] [-6.46555421e-03 -1.17123968e-04 9.99979091e-01 -4.91481625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:-24.90, Z:-4.92 [[ 9.91155722e-01 1.32576049e-01 5.82456087e-03 2.02065358e+02] [-1.32574297e-01 9.91172832e-01 -6.87679298e-04 -2.48989845e+01] [-5.86431630e-03 -9.05897901e-05 9.99982801e-01 -4.91576002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.10, Y:-24.90, Z:-4.92 [[ 9.91321809e-01 1.31351216e-01 5.28474567e-03 2.02095827e+02] [-1.31349757e-01 9.91335893e-01 -6.23691299e-04 -2.48996265e+01] [-5.32088068e-03 -7.58712745e-05 9.99985841e-01 -4.91682149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:-24.90, Z:-4.92 [[ 9.91682324e-01 1.28591925e-01 5.50325373e-03 2.02125765e+02] [-1.28590299e-01 9.91697591e-01 -6.49691056e-04 -2.48981452e+01] [-5.54110850e-03 -6.33779080e-05 9.99984646e-01 -4.91596861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.16, Y:-24.90, Z:-4.92 [[ 9.91824085e-01 1.27497202e-01 5.42667840e-03 2.02155950e+02] [-1.27495604e-01 9.91838929e-01 -6.40791058e-04 -2.48986166e+01] [-5.46408996e-03 -5.63256351e-05 9.99985070e-01 -4.91669437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.19, Y:-24.90, Z:-4.92 [[ 9.91935991e-01 1.26650361e-01 4.76183805e-03 2.02185977e+02] [-1.26649121e-01 9.91947420e-01 -5.62255558e-04 -2.48987602e+01] [-4.79470283e-03 -4.53610767e-05 9.99988504e-01 -4.91673186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:-24.90, Z:-4.92 [[ 9.92002929e-01 1.26139829e-01 4.35125012e-03 2.02215234e+02] [-1.26138788e-01 9.92012471e-01 -5.13945471e-04 -2.48983540e+01] [-4.38132337e-03 -3.90260040e-05 9.99990401e-01 -4.91698413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:-24.90, Z:-4.92 [[ 9.92092257e-01 1.25446321e-01 4.02159501e-03 2.02243896e+02] [-1.25445425e-01 9.92100408e-01 -4.75357779e-04 -2.48952958e+01] [-4.04945793e-03 -3.28919232e-05 9.99991800e-01 -4.91736140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.27, Y:-24.90, Z:-4.92 [[ 9.92096663e-01 1.25411471e-01 4.02167659e-03 2.02273028e+02] [-1.25410577e-01 9.92104814e-01 -4.74665660e-04 -2.48986432e+01] [-4.04945323e-03 -3.34465643e-05 9.99991800e-01 -4.91803794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:-24.90, Z:-4.92 [[ 9.92139581e-01 1.25079862e-01 3.75233905e-03 2.02301857e+02] [-1.25079081e-01 9.92146676e-01 -4.43029621e-04 -2.48988081e+01] [-3.77828480e-03 -2.97918984e-05 9.99992862e-01 -4.91847425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.33, Y:-24.90, Z:-4.92 [[ 9.92212329e-01 1.24511084e-01 3.41824273e-03 2.02330447e+02] [-1.24510432e-01 9.92218217e-01 -4.03746516e-04 -2.48957031e+01] [-3.44191362e-03 -2.50046072e-05 9.99994076e-01 -4.91903114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.36, Y:-24.90, Z:-4.92 [[ 9.92273789e-01 1.24019583e-01 3.44539142e-03 2.02359210e+02] [-1.24018919e-01 9.92279770e-01 -4.06503907e-04 -2.48954946e+01] [-3.46920665e-03 -2.39305482e-05 9.99993982e-01 -4.91986647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.39, Y:-24.90, Z:-4.92 [[ 9.92377646e-01 1.23205182e-01 2.66283742e-03 2.02388615e+02] [-1.23204782e-01 9.92381219e-01 -3.14350585e-04 -2.48953143e+01] [-2.68127947e-03 -1.61198103e-05 9.99996405e-01 -4.92007355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:-24.89, Z:-4.92 [[ 9.92788357e-01 1.19838162e-01 3.17696067e-03 2.02417129e+02] [-1.19837576e-01 9.92793440e-01 -3.75007903e-04 -2.48932465e+01] [-3.19900597e-03 -8.41578608e-06 9.99994883e-01 -4.92133666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:-24.89, Z:-4.92 [[ 9.93089943e-01 1.17319343e-01 2.92177040e-03 2.02444518e+02] [-1.17318836e-01 9.93094241e-01 -3.44738679e-04 -2.48946879e+01] [-2.94203787e-03 -4.22187931e-07 9.99995672e-01 -4.92193222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.47, Y:-24.90, Z:-4.92 [[ 9.93587352e-01 1.13039900e-01 2.48079016e-03 2.02473665e+02] [-1.13039522e-01 9.93590449e-01 -2.92478744e-04 -2.48960966e+01] [-2.49795117e-03 1.01758465e-05 9.99996880e-01 -4.92174125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.50, Y:-24.90, Z:-4.92 [[ 9.93726754e-01 1.11802631e-01 2.70355743e-03 2.02501741e+02] [-1.11802177e-01 9.93730432e-01 -3.18745683e-04 -2.48981819e+01] [-2.72224390e-03 1.44825061e-05 9.99996295e-01 -4.92404049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:-24.90, Z:-4.92 [[ 9.93849969e-01 1.10700437e-01 2.76636274e-03 2.02529517e+02] [-1.10699959e-01 9.93853819e-01 -3.25895156e-04 -2.48974332e+01] [-2.78543691e-03 1.76546478e-05 9.99996121e-01 -4.92186143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:-24.90, Z:-4.92 [[ 9.93823592e-01 1.10940795e-01 2.60901900e-03 2.02558620e+02] [-1.10940371e-01 9.93827017e-01 -3.07096047e-04 -2.48981914e+01] [-2.62698305e-03 1.57537599e-05 9.99996549e-01 -4.92249441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:-24.90, Z:-4.92 [[ 9.93747841e-01 1.11619551e-01 2.51068612e-03 2.02586416e+02] [-1.11619160e-01 9.93751013e-01 -2.95687812e-04 -2.48997578e+01] [-2.52800142e-03 1.35984481e-05 9.99996805e-01 -4.92312049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:-24.90, Z:-4.92 [[ 9.93643077e-01 1.12551090e-01 2.38497440e-03 2.02615558e+02] [-1.12550741e-01 9.93645939e-01 -2.80543427e-04 -2.49020516e+01] [-2.40139560e-03 1.03293975e-05 9.99997117e-01 -4.92401118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:-24.90, Z:-4.92 [[ 9.93588551e-01 1.13023793e-01 2.72285303e-03 2.02643302e+02] [-1.13023340e-01 9.93592282e-01 -3.20237483e-04 -2.49043564e+01] [-2.74160021e-03 1.04383535e-05 9.99996242e-01 -4.92492378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:-24.91, Z:-4.93 [[ 9.93623029e-01 1.12720613e-01 2.70908071e-03 2.02671780e+02] [-1.12720165e-01 9.93626722e-01 -3.18210528e-04 -2.49051184e+01] [-2.72768388e-03 1.08132852e-05 9.99996280e-01 -4.92532668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:-24.91, Z:-4.93 [[ 9.93708073e-01 1.11956082e-01 3.17835332e-03 2.02699865e+02] [-1.11955461e-01 9.93713156e-01 -3.73212673e-04 -2.49077078e+01] [-3.20015494e-03 1.50304344e-05 9.99994879e-01 -4.92628829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:-24.91, Z:-4.93 [[ 9.93804157e-01 1.11094266e-01 3.37080359e-03 2.02728924e+02] [-1.11093564e-01 9.93809873e-01 -3.95288048e-04 -2.49104828e+01] [-3.39385213e-03 1.83643212e-05 9.99994241e-01 -4.92623076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:-24.91, Z:-4.93 [[ 9.94018562e-01 1.09143434e-01 3.84828538e-03 2.02756260e+02] [-1.09142504e-01 9.94026011e-01 -4.51284407e-04 -2.49128828e+01] [-3.87455049e-03 2.85735735e-05 9.99992493e-01 -4.92685344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.78, Y:-24.92, Z:-4.93 [[ 9.94099336e-01 1.08385748e-01 4.36347861e-03 2.02784105e+02] [-1.08384549e-01 9.94108912e-01 -5.11058326e-04 -2.49157679e+01] [-4.39316441e-03 3.51090842e-05 9.99990349e-01 -4.92714370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:-24.92, Z:-4.93 [[ 9.94109484e-01 1.08272424e-01 4.83897562e-03 2.02812919e+02] [-1.08270951e-01 9.94121261e-01 -5.66117529e-04 -2.49191963e+01] [-4.87182346e-03 3.88623109e-05 9.99988132e-01 -4.92752197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:-24.92, Z:-4.93 [[ 9.93904713e-01 1.10064314e-01 6.26643416e-03 2.02840368e+02] [-1.10061881e-01 9.93924467e-01 -7.32815683e-04 -2.49248071e+01] [-6.30901909e-03 3.86534306e-05 9.99980097e-01 -4.92790506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:-24.93, Z:-4.93 [[ 9.93695718e-01 1.11906864e-01 6.75828132e-03 2.02868597e+02] [-1.11904083e-01 9.93718699e-01 -7.89380257e-04 -2.49289868e+01] [-6.80416759e-03 2.81245046e-05 9.99976851e-01 -4.92778562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:-24.93, Z:-4.93 [[ 9.93006888e-01 1.17852465e-01 6.93665578e-03 2.02896962e+02] [-1.17849683e-01 9.93031116e-01 -8.09871890e-04 -2.49315463e+01] [-6.98376042e-03 -1.32743185e-05 9.99975613e-01 -4.92788859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:-24.93, Z:-4.93 [[ 9.92574528e-01 1.21450839e-01 6.74534772e-03 2.02925842e+02] [-1.21448294e-01 9.92597447e-01 -7.87239834e-04 -2.49331232e+01] [-6.79102587e-03 -3.78167640e-05 9.99976940e-01 -4.92887842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:-24.93, Z:-4.93 [[ 9.92086589e-01 1.25377921e-01 6.67651906e-03 2.02953619e+02] [-1.25375517e-01 9.92109053e-01 -7.79104881e-04 -2.49342617e+01] [-6.72151755e-03 -6.41325218e-05 9.99977408e-01 -4.92993402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:-24.93, Z:-4.93 [[ 9.91046109e-01 1.33324800e-01 7.21860208e-03 2.02981884e+02] [-1.33322204e-01 9.91072390e-01 -8.41767235e-04 -2.49326504e+01] [-7.26638566e-03 -1.28169800e-04 9.99973591e-01 -4.93079517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:-24.93, Z:-4.93 [[ 9.90596714e-01 1.36646720e-01 6.76928567e-03 2.03011074e+02] [-1.36644518e-01 9.90619833e-01 -7.88861918e-04 -2.49341721e+01] [-6.81358404e-03 -1.43541755e-04 9.99976777e-01 -4.93122531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:-24.94, Z:-4.93 [[ 9.90178480e-01 1.39653290e-01 6.59824494e-03 2.03038838e+02] [-1.39651266e-01 9.90200451e-01 -7.68826173e-04 -2.49358301e+01] [-6.64095422e-03 -1.60178124e-04 9.99977936e-01 -4.93197460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:-24.93, Z:-4.93 [[ 9.89488805e-01 1.44454435e-01 6.69489359e-03 2.03066571e+02] [-1.44452461e-01 9.89511434e-01 -7.80043430e-04 -2.49338228e+01] [-6.73735449e-03 -1.95249616e-04 9.99977285e-01 -4.93244958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.10, Y:-24.93, Z:-4.93 [[ 9.89224048e-01 1.46248220e-01 6.87326845e-03 2.03095183e+02] [-1.46246188e-01 9.89247902e-01 -8.00013869e-04 -2.49337752e+01] [-6.91636700e-03 -2.13796355e-04 9.99976059e-01 -4.93358101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:-24.93, Z:-4.93 [[ 9.88979372e-01 1.47941360e-01 5.75808736e-03 2.03124117e+02] [-1.47939964e-01 9.88996116e-01 -6.70093138e-04 -2.49294194e+01] [-5.79386053e-03 -1.89142944e-04 9.99983198e-01 -4.93431512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:-24.93, Z:-4.94 [[ 9.89009634e-01 1.47734501e-01 5.87027386e-03 2.03151537e+02] [-1.47733047e-01 9.89027037e-01 -6.82892935e-04 -2.49279207e+01] [-5.90674642e-03 -1.91845753e-04 9.99982537e-01 -4.93551122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.18, Y:-24.93, Z:-4.94 [[ 9.89142306e-01 1.46829538e-01 6.21171169e-03 2.03180001e+02] [-1.46827898e-01 9.89161790e-01 -7.21771459e-04 -2.49267426e+01] [-6.25036522e-03 -1.98117885e-04 9.99980447e-01 -4.93602433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:-24.93, Z:-4.94 [[ 9.89371736e-01 1.45266477e-01 6.42024722e-03 2.03208485e+02] [-1.45264696e-01 9.89392547e-01 -7.45289178e-04 -2.49259704e+01] [-6.46041028e-03 -1.95267215e-04 9.99979112e-01 -4.93738483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:-24.92, Z:-4.94 [[ 9.90109986e-01 1.40145238e-01 6.44419322e-03 2.03235614e+02] [-1.40143335e-01 9.90130944e-01 -7.48072844e-04 -2.49225001e+01] [-6.48543396e-03 -1.62436337e-04 9.99978956e-01 -4.93870959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.26, Y:-24.92, Z:-4.94 [[ 9.90585373e-01 1.36727752e-01 6.79263511e-03 2.03262728e+02] [-1.36725563e-01 9.90608651e-01 -7.87837325e-04 -2.49220301e+01] [-6.83656234e-03 -1.48306728e-04 9.99976619e-01 -4.93948963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:-24.92, Z:-4.94 [[ 9.91528396e-01 1.29709075e-01 6.85531625e-03 2.03291423e+02] [-1.29706682e-01 9.91552089e-01 -7.94380259e-04 -2.49188860e+01] [-6.90044148e-03 -1.01529739e-04 9.99976187e-01 -4.94053482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:-24.92, Z:-4.94 [[ 9.92030713e-01 1.25807768e-01 6.88979621e-03 2.03318310e+02] [-1.25805260e-01 9.92054635e-01 -7.98040471e-04 -2.49186321e+01] [-6.93545396e-03 -7.50919442e-05 9.99975947e-01 -4.94122236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:-24.92, Z:-4.94 [[ 9.92476327e-01 1.22245111e-01 6.84639943e-03 2.03346308e+02] [-1.22242555e-01 9.92499940e-01 -7.92162777e-04 -2.49189283e+01] [-6.89188905e-03 -5.07185533e-05 9.99976249e-01 -4.94155578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:-24.92, Z:-4.94 [[ 9.93310186e-01 1.15234847e-01 7.47024187e-03 2.03374641e+02] [-1.15231610e-01 9.93338276e-01 -8.63710375e-04 -2.49170367e+01] [-7.52000671e-03 -2.87568466e-06 9.99971724e-01 -4.94255569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:-24.92, Z:-4.94 [[ 9.93664256e-01 1.12119334e-01 7.78466817e-03 2.03402918e+02] [-1.12115728e-01 9.93694749e-01 -8.99488259e-04 -2.49180038e+01] [-7.83643391e-03 2.10055931e-05 9.99969294e-01 -4.94335597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:-24.92, Z:-4.94 [[ 9.93948028e-01 1.09580419e-01 7.71029929e-03 2.03429597e+02] [-1.09576806e-01 9.93977932e-01 -8.90794437e-04 -2.49189335e+01] [-7.76148098e-03 4.05334053e-05 9.99969878e-01 -4.94388179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.46, Y:-24.92, Z:-4.95 [[ 9.94358555e-01 1.05793993e-01 7.66126962e-03 2.03458256e+02] [-1.05790326e-01 9.94388066e-01 -8.83545200e-04 -2.49186814e+01] [-7.71174885e-03 6.80725219e-05 9.99970262e-01 -4.94506267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:-24.92, Z:-4.95 [[ 9.94485156e-01 1.04577257e-01 7.92915131e-03 2.03485903e+02] [-1.04573290e-01 9.94516763e-01 -9.14382351e-04 -2.49197765e+01] [-7.98129749e-03 8.01622381e-05 9.99968146e-01 -4.94561611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:-24.92, Z:-4.95 [[ 9.94542112e-01 1.03974795e-01 8.67345378e-03 2.03513610e+02] [-1.03970029e-01 9.94579928e-01 -9.99874803e-04 -2.49183270e+01] [-8.73040482e-03 9.26383573e-05 9.99961885e-01 -4.94503401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:-24.92, Z:-4.95 [[ 9.94497899e-01 1.04380238e-01 8.87103594e-03 2.03541329e+02] [-1.04375281e-01 9.94537459e-01 -1.02126949e-03 -2.49196225e+01] [-8.92917790e-03 8.97334948e-05 9.99960130e-01 -4.94562341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:-24.92, Z:-4.95 [[ 9.94415260e-01 1.05117519e-01 9.41264748e-03 2.03568758e+02] [-1.05111978e-01 9.94459803e-01 -1.08283024e-03 -2.49215243e+01] [-9.47432398e-03 8.74009193e-05 9.99955114e-01 -4.94679832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:-24.92, Z:-4.95 [[ 9.94130755e-01 1.07668261e-01 1.05635133e-02 2.03597033e+02] [-1.07661438e-01 9.94186874e-01 -1.21409935e-03 -2.49219631e+01] [-1.06328263e-02 6.96904634e-05 9.99943467e-01 -4.94766357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.63, Y:-24.92, Z:-4.95 [[ 9.93941189e-01 1.09405526e-01 1.05519709e-02 2.03625165e+02] [-1.09398820e-01 9.93997197e-01 -1.21229839e-03 -2.49236512e+01] [-1.06212617e-02 5.05801290e-05 9.99943592e-01 -4.94825520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:-24.92, Z:-4.95 [[ 9.93492625e-01 1.13335087e-01 1.12943626e-02 2.03651999e+02] [-1.13327668e-01 9.93556822e-01 -1.29678161e-03 -2.49245876e+01] [-1.13685619e-02 8.37918842e-06 9.99935376e-01 -4.94847530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.68, Y:-24.93, Z:-4.95 [[ 9.93230875e-01 1.15564925e-01 1.17122512e-02 2.03680410e+02] [-1.15557117e-01 9.93299928e-01 -1.34351334e-03 -2.49256381e+01] [-1.17890413e-02 -1.90150425e-05 9.99930507e-01 -4.94922487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.71, Y:-24.93, Z:-4.95 [[ 9.93015326e-01 1.17486096e-01 1.08433773e-02 2.03708652e+02] [-1.17479525e-01 9.93074527e-01 -1.24321644e-03 -2.49262140e+01] [-1.09143424e-02 -3.93418430e-05 9.99940436e-01 -4.95031868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.74, Y:-24.93, Z:-4.95 [[ 9.92579718e-01 1.21333420e-01 7.98147600e-03 2.03735826e+02] [-1.21329983e-01 9.92611806e-01 -9.15126412e-04 -2.49259384e+01] [-8.03354272e-03 -6.00564335e-05 9.99967729e-01 -4.95267441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:-24.93, Z:-4.95 [[ 9.92344376e-01 1.23260577e-01 7.71160054e-03 2.03763793e+02] [-1.23257428e-01 9.92374337e-01 -8.84159644e-04 -2.49277113e+01] [-7.76177650e-03 -7.31211963e-05 9.99969874e-01 -4.95335828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:-24.93, Z:-4.95 [[ 9.91862888e-01 1.27029277e-01 8.46021464e-03 2.03790684e+02] [-1.27025634e-01 9.91898962e-01 -9.68775327e-04 -2.49273871e+01] [-8.51474095e-03 -1.13771831e-04 9.99963742e-01 -4.95458604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:-24.93, Z:-4.96 [[ 9.91644998e-01 1.28742386e-01 8.09914282e-03 2.03818723e+02] [-1.28739118e-01 9.91678064e-01 -9.25713210e-04 -2.49292141e+01] [-8.15092080e-03 -1.24697630e-04 9.99966773e-01 -4.95528326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:-24.93, Z:-4.96 [[ 9.91263165e-01 1.31617410e-01 8.61369433e-03 2.03845776e+02] [-1.31613827e-01 9.91300576e-01 -9.83961235e-04 -2.49273906e+01] [-8.66826659e-03 -1.58316746e-04 9.99962417e-01 -4.95519288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:-24.93, Z:-4.96 [[ 9.91067486e-01 1.33025213e-01 9.46203208e-03 2.03873811e+02] [-1.33020965e-01 9.91112636e-01 -1.07976556e-03 -2.49269479e+01] [-9.52157560e-03 -1.88528095e-04 9.99954651e-01 -4.95574064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.90, Y:-24.93, Z:-4.96 [[ 9.90905519e-01 1.34186624e-01 1.00100688e-02 2.03901400e+02] [-1.34181929e-01 9.90956056e-01 -1.14225459e-03 -2.49269631e+01] [-1.00728136e-02 -2.11303960e-04 9.99949246e-01 -4.95630251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.93, Y:-24.93, Z:-4.96 [[ 9.90677537e-01 1.35810276e-01 1.06577157e-02 2.03929904e+02] [-1.35805073e-01 9.90734833e-01 -1.21374692e-03 -2.49277390e+01] [-1.07238094e-02 -2.44940042e-04 9.99942468e-01 -4.95823946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:-24.93, Z:-4.96 [[ 9.90675800e-01 1.35839813e-01 1.04405124e-02 2.03958237e+02] [-1.35834829e-01 9.90730784e-01 -1.18829576e-03 -2.49297003e+01] [-1.05051549e-02 -2.40969363e-04 9.99944790e-01 -4.95956548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:-24.93, Z:-4.96 [[ 9.90813693e-01 1.34915415e-01 9.27662002e-03 2.03987039e+02] [-1.34911444e-01 9.90857098e-01 -1.05537869e-03 -2.49278509e+01] [-9.33419165e-03 -2.05838551e-04 9.99956414e-01 -4.96099299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:-24.93, Z:-4.96 [[ 9.90910801e-01 1.34242075e-01 8.65155818e-03 2.04014072e+02] [-1.34238593e-01 9.90948551e-01 -9.84602339e-04 -2.49272019e+01] [-8.70542410e-03 -1.85719906e-04 9.99962090e-01 -4.96176698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:-24.93, Z:-4.96 [[ 9.90933718e-01 1.34072798e-01 8.65162282e-03 2.04042364e+02] [-1.34069314e-01 9.90971468e-01 -9.84034471e-04 -2.49302106e+01] [-8.70544362e-03 -1.84804196e-04 9.99962090e-01 -4.96242385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:-24.93, Z:-4.96 [[ 9.91053462e-01 1.33190837e-01 8.55787028e-03 2.04070787e+02] [-1.33187420e-01 9.91090394e-01 -9.70475287e-04 -2.49297436e+01] [-8.61088145e-03 -1.78007773e-04 9.99962910e-01 -4.96338327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:-24.93, Z:-4.96 [[ 9.91183881e-01 1.32215243e-01 8.58163956e-03 2.04098543e+02] [-1.32211776e-01 9.91221015e-01 -9.72587847e-04 -2.49300973e+01] [-8.63489241e-03 -1.70580407e-04 9.99962704e-01 -4.96445829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:-24.93, Z:-4.97 [[ 9.91513331e-01 1.29591245e-01 1.03645515e-02 2.04126636e+02] [-1.29614091e-01 9.91563286e-01 1.56101920e-03 -2.49328172e+01] [-1.00748143e-02 -2.89116328e-03 9.99945068e-01 -4.96648438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:-24.93, Z:-4.97 [[ 9.91643381e-01 1.28656816e-01 9.53044265e-03 2.04154835e+02] [-1.28625549e-01 9.91685850e-01 -3.82670420e-03 -2.49326113e+01] [-9.94353670e-03 2.56886747e-03 9.99947262e-01 -4.96595344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.18, Y:-24.94, Z:-4.97 [[ 9.91987506e-01 1.25880152e-01 1.07226602e-02 2.04182184e+02] [-1.25874409e-01 9.92045445e-01 -1.21140085e-03 -2.49351181e+01] [-1.07898576e-02 -1.48014014e-04 9.99941777e-01 -4.96668676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.21, Y:-24.94, Z:-4.97 [[ 9.92138650e-01 1.24683697e-01 1.07179258e-02 2.04210138e+02] [-1.24677901e-01 9.92196532e-01 -1.20984403e-03 -2.49361990e+01] [-1.07851366e-02 -1.35955465e-04 9.99941829e-01 -4.96762647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:-24.94, Z:-4.97 [[ 9.92285951e-01 1.23523572e-01 1.05127620e-02 2.04237297e+02] [-1.23517937e-01 9.92341631e-01 -1.18608552e-03 -2.49370573e+01] [-1.05787609e-02 -1.21578679e-04 9.99944036e-01 -4.96807214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:-24.94, Z:-4.97 [[ 9.92490780e-01 1.21716028e-01 1.21350523e-02 2.04265132e+02] [-1.21708403e-01 9.92564957e-01 -1.36762260e-03 -2.49370253e+01] [-1.22112893e-02 -1.19585015e-04 9.99925432e-01 -4.96869330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:-24.94, Z:-4.97 [[ 9.92603065e-01 1.20806857e-01 1.20357374e-02 2.04292269e+02] [-1.20799299e-01 9.92676025e-01 -1.35569809e-03 -2.49402431e+01] [-1.21113656e-02 -1.08238561e-04 9.99926649e-01 -4.96955260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:-24.94, Z:-4.97 [[ 9.92701058e-01 1.20028313e-01 1.17394088e-02 2.04320267e+02] [-1.20021080e-01 9.92770464e-01 -1.32126467e-03 -2.49431021e+01] [-1.18131275e-02 -9.73556819e-05 9.99930218e-01 -4.97008932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:-24.94, Z:-4.97 [[ 9.92744289e-01 1.19686094e-01 1.15764960e-02 2.04347077e+02] [-1.19679045e-01 9.92811780e-01 -1.30223474e-03 -2.49427881e+01] [-1.16491410e-02 -9.26778973e-05 9.99932142e-01 -4.97091790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:-24.94, Z:-4.97 [[ 9.92730643e-01 1.19785502e-01 1.17176889e-02 2.04375279e+02] [-1.19778301e-01 9.92799791e-01 -1.31695540e-03 -2.49442473e+01] [-1.17910713e-02 -9.61428866e-05 9.99930478e-01 -4.97210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:-24.95, Z:-4.97 [[ 9.92636835e-01 1.20543409e-01 1.18911840e-02 2.04402724e+02] [-1.20536057e-01 9.92708051e-01 -1.33569585e-03 -2.49456693e+01] [-1.19654835e-02 -1.07455536e-04 9.99928405e-01 -4.97255503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:-24.95, Z:-4.97 [[ 9.92508201e-01 1.21541008e-01 1.24600913e-02 2.04429995e+02] [-1.21533028e-01 9.92586403e-01 -1.39845716e-03 -2.49472393e+01] [-1.25376871e-02 -1.26332431e-04 9.99921392e-01 -4.97314089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:-24.95, Z:-4.97 [[ 9.92234166e-01 1.23739338e-01 1.26465640e-02 2.04457905e+02] [-1.23731311e-01 9.92314744e-01 -1.41819231e-03 -2.49458185e+01] [-1.27248581e-02 -1.57597086e-04 9.99919023e-01 -4.97442083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:-24.95, Z:-4.98 [[ 9.92224393e-01 1.23656464e-01 1.41362543e-02 2.04486785e+02] [-1.23744523e-01 9.92298696e-01 5.53088001e-03 -2.49508789e+01] [-1.33434576e-02 -7.23715811e-03 9.99884781e-01 -4.97738411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:-24.94, Z:-4.97 [[ 9.92115643e-01 1.24943606e-01 9.77988928e-03 2.04515242e+02] [-1.24862868e-01 9.92137823e-01 -8.47380279e-03 -2.49435400e+01] [-1.07617455e-02 7.18584728e-03 9.99916271e-01 -4.97471749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.54, Y:-24.95, Z:-4.98 [[ 9.92142075e-01 1.24684990e-01 1.03805985e-02 2.04542592e+02] [-1.24679651e-01 9.92196368e-01 -1.16238428e-03 -2.49482152e+01] [-1.04445240e-02 -1.40999048e-04 9.99945445e-01 -4.97686727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.57, Y:-24.95, Z:-4.98 [[ 9.92352202e-01 1.22970048e-01 1.07458966e-02 2.04571051e+02] [-1.22964236e-01 9.92410374e-01 -1.20245116e-03 -2.49471011e+01] [-1.08122047e-02 -1.28105908e-04 9.99941538e-01 -4.97765265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:204.60, Y:-24.95, Z:-4.98 [[ 9.92545984e-01 1.21331212e-01 1.14545182e-02 2.04598459e+02] [-1.21324509e-01 9.92612071e-01 -1.28083028e-03 -2.49488373e+01] [-1.15252978e-02 -1.18430858e-04 9.99933575e-01 -4.98226991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:-24.95, Z:-4.98 [[ 9.93098652e-01 1.16783799e-01 1.07987002e-02 2.04626426e+02] [-1.16777580e-01 9.93157359e-01 -1.20679132e-03 -2.49511196e+01] [-1.08657423e-02 -6.25832511e-05 9.99940964e-01 -4.97960305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:-24.95, Z:-4.98 [[ 9.93418154e-01 1.13981337e-01 1.13413251e-02 2.04653570e+02] [-1.13974305e-01 9.93482890e-01 -1.26663484e-03 -2.49533010e+01] [-1.14117852e-02 -3.43215986e-05 9.99934883e-01 -4.98035072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:-24.96, Z:-4.98 [[ 9.93724256e-01 1.11193436e-01 1.21705991e-02 2.04680301e+02] [-1.11185137e-01 9.93798782e-01 -1.35852960e-03 -2.49554970e+01] [-1.22461861e-02 -3.18590632e-06 9.99925013e-01 -4.98065818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:-24.96, Z:-4.98 [[ 9.94055035e-01 1.08150274e-01 1.25739727e-02 2.04708007e+02] [-1.08141201e-01 9.94134557e-01 -1.40121006e-03 -2.49577850e+01] [-1.26517620e-02 3.31154082e-05 9.99919963e-01 -4.98116984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:-24.96, Z:-4.98 [[ 9.94622688e-01 1.02770967e-01 1.27998365e-02 2.04736093e+02] [-1.02761133e-01 9.94705041e-01 -1.42543704e-03 -2.49609352e+01] [-1.28785554e-02 1.02446325e-04 9.99917063e-01 -4.98223744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:-24.96, Z:-4.98 [[ 9.94832149e-01 1.00714273e-01 1.28697467e-02 2.04763148e+02] [-1.00704169e-01 9.94915383e-01 -1.43236415e-03 -2.49648867e+01] [-1.29485685e-02 1.28924754e-04 9.99916155e-01 -4.98343553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.79, Y:-24.97, Z:-4.98 [[ 9.95120438e-01 9.77362729e-02 1.35253491e-02 2.04790323e+02] [-9.77248575e-02 9.95212334e-01 -1.50394235e-03 -2.49695421e+01] [-1.36075840e-02 1.74840961e-04 9.99907397e-01 -4.98436692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:-24.97, Z:-4.98 [[ 9.95201269e-01 9.68868641e-02 1.36882732e-02 2.04817428e+02] [-9.68751044e-02 9.95295383e-01 -1.52113872e-03 -2.49717433e+01] [-1.37712534e-02 1.87786300e-04 9.99905154e-01 -4.98430501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.85, Y:-24.97, Z:-4.98 [[ 9.95224123e-01 9.65791440e-02 1.41920133e-02 2.04845625e+02] [-9.65664911e-02 9.95325288e-01 -1.57574197e-03 -2.49733026e+01] [-1.42778535e-02 1.97743498e-04 9.99898047e-01 -4.98428975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:-24.98, Z:-4.98 [[ 9.95211724e-01 9.67084590e-02 1.41809012e-02 2.04872178e+02] [-9.66958524e-02 9.95312733e-01 -1.57357420e-03 -2.49774042e+01] [-1.42666094e-02 1.94805170e-04 9.99898208e-01 -4.98471805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:-24.98, Z:-4.99 [[ 9.95161039e-01 9.72197817e-02 1.42414890e-02 2.04898865e+02] [-9.72071369e-02 9.95262920e-01 -1.57907635e-03 -2.49820862e+01] [-1.43275434e-02 1.87060894e-04 9.99897338e-01 -4.98597635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:-24.99, Z:-4.99 [[ 9.94957551e-01 9.93090802e-02 1.40420237e-02 2.04926164e+02] [-9.92970128e-02 9.95056623e-01 -1.55570791e-03 -2.49868890e+01] [-1.41271046e-02 1.53532331e-04 9.99900196e-01 -4.98735485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.95, Y:-24.99, Z:-4.99 [[ 9.94834813e-01 1.00458924e-01 1.45499178e-02 2.04953636e+02] [-1.00446107e-01 9.94941197e-01 -1.61087498e-03 -2.49902263e+01] [-1.46381394e-02 1.41071916e-04 9.99892847e-01 -4.98849444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:-24.99, Z:-4.99 [[ 9.94567148e-01 1.03127705e-01 1.41727024e-02 2.04980409e+02] [-1.03115827e-01 9.94668119e-01 -1.56822996e-03 -2.49935474e+01] [-1.42588631e-02 9.82800664e-05 9.99898332e-01 -4.98896845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.01, Y:-25.00, Z:-4.99 [[ 9.94441406e-01 1.04351099e-01 1.40405603e-02 2.05008252e+02] [-1.04339581e-01 9.94540518e-01 -1.55233261e-03 -2.49959193e+01] [-1.41258938e-02 7.87176360e-05 9.99900221e-01 -4.98909089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.04, Y:-25.00, Z:-4.99 [[ 9.94323309e-01 1.05490047e-01 1.38927267e-02 2.05035376e+02] [-1.05478894e-01 9.94420357e-01 -1.53511629e-03 -2.49979396e+01] [-1.39771498e-02 6.10124565e-05 9.99902313e-01 -4.98963940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.06, Y:-25.00, Z:-4.99 [[ 9.94143256e-01 1.07259414e-01 1.32138278e-02 2.05063194e+02] [-1.07249496e-01 9.94231068e-01 -1.45897830e-03 -2.50013849e+01] [-1.32940873e-02 3.32570605e-05 9.99911629e-01 -4.99047751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.09, Y:-25.01, Z:-4.99 [[ 9.94123561e-01 1.07486320e-01 1.28466779e-02 2.05091037e+02] [-1.07476975e-01 9.94206563e-01 -1.41757853e-03 -2.50057065e+01] [-1.29246218e-02 2.85261285e-05 9.99916473e-01 -4.99150357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:-25.01, Z:-4.99 [[ 9.94112853e-01 1.07552472e-01 1.31187616e-02 2.05118446e+02] [-1.07542745e-01 9.94199409e-01 -1.44667291e-03 -2.50101160e+01] [-1.31982583e-02 2.73284979e-05 9.99912899e-01 -4.99243192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:-25.02, Z:-4.99 [[ 9.94092985e-01 1.07503814e-01 1.49019418e-02 2.05145306e+02] [-1.07491277e-01 9.94204672e-01 -1.64206945e-03 -2.50166818e+01] [-1.49921089e-02 3.05409677e-05 9.99887612e-01 -4.99373050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:-25.02, Z:-4.99 [[ 9.94137909e-01 1.07075380e-01 1.49893689e-02 2.05172029e+02] [-1.07062667e-01 9.94250905e-01 -1.65037453e-03 -2.50212469e+01] [-1.50799081e-02 3.58980693e-05 9.99886291e-01 -4.99403287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:-25.03, Z:-4.99 [[ 9.94214749e-01 1.06374215e-01 1.48848496e-02 2.05200190e+02] [-1.06361619e-01 9.94326166e-01 -1.63757076e-03 -2.50254395e+01] [-1.49745908e-02 4.49203094e-05 9.99887874e-01 -4.99463822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:-25.03, Z:-5.00 [[ 9.94363777e-01 1.04858152e-01 1.56667299e-02 2.05227392e+02] [-1.04844028e-01 9.94487186e-01 -1.72239763e-03 -2.50317226e+01] [-1.57609696e-02 7.01267303e-05 9.99875786e-01 -4.99539372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:-25.04, Z:-5.00 [[ 9.94433170e-01 1.04201901e-01 1.56407660e-02 2.05253773e+02] [-1.04187760e-01 9.94556161e-01 -1.71848926e-03 -2.50372288e+01] [-1.57346900e-02 7.93463547e-05 9.99876199e-01 -4.99598708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.28, Y:-25.05, Z:-5.00 [[ 9.94553085e-01 1.03242841e-01 1.43204817e-02 2.05280337e+02] [-1.03230902e-01 9.94656176e-01 -1.57236648e-03 -2.50464981e+01] [-1.44062911e-02 8.54856960e-05 9.99896220e-01 -4.99727738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:-25.05, Z:-5.00 [[ 9.94537703e-01 1.03400763e-01 1.42491703e-02 2.05307530e+02] [-1.03388977e-01 9.94639772e-01 -1.56326976e-03 -2.50512297e+01] [-1.43344347e-02 8.15235740e-05 9.99897253e-01 -4.99789960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:-25.06, Z:-5.00 [[ 9.94434208e-01 1.04380906e-01 1.43259625e-02 2.05334173e+02] [-1.04369108e-01 9.94537391e-01 -1.57077161e-03 -2.50551965e+01] [-1.44116639e-02 6.68410891e-05 9.99896144e-01 -4.99841172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.36, Y:-25.06, Z:-5.00 [[ 9.94010151e-01 1.08364396e-01 1.41766281e-02 2.05361259e+02] [-1.08353265e-01 9.94111240e-01 -1.55314471e-03 -2.50606438e+01] [-1.42614509e-02 7.75767212e-06 9.99898300e-01 -4.99903278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:-25.06, Z:-5.00 [[ 9.93721166e-01 1.11033617e-01 1.37760422e-02 2.05389426e+02] [-1.11023375e-01 9.93816651e-01 -1.50838322e-03 -2.50649197e+01] [-1.38583414e-02 -3.05503772e-05 9.99903968e-01 -4.99995486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:-25.07, Z:-5.00 [[ 9.93041251e-01 1.17006837e-01 1.33594056e-02 2.05415732e+02] [-1.16997756e-01 9.93131103e-01 -1.46196216e-03 -2.50684189e+01] [-1.34387008e-02 -1.11231747e-04 9.99909690e-01 -5.00052369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:-25.07, Z:-5.00 [[ 9.92713337e-01 1.19749841e-01 1.34240613e-02 2.05442900e+02] [-1.19740938e-01 9.92804086e-01 -1.46789868e-03 -2.50714955e+01] [-1.35032436e-02 -1.50207094e-04 9.99908816e-01 -5.00175839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:-25.07, Z:-5.00 [[ 9.92091927e-01 1.24819536e-01 1.31792151e-02 2.05470494e+02] [-1.24811418e-01 9.92179438e-01 -1.43994694e-03 -2.50747068e+01] [-1.32558798e-02 -2.16356790e-04 9.99912114e-01 -5.00301316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:-25.08, Z:-5.00 [[ 9.91846176e-01 1.26765080e-01 1.31063654e-02 2.05497023e+02] [-1.26757225e-01 9.91932738e-01 -1.43162706e-03 -2.50762081e+01] [-1.31821132e-02 -2.41372675e-04 9.99913083e-01 -5.00319863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:-25.08, Z:-5.00 [[ 9.91655301e-01 1.28283997e-01 1.27663333e-02 2.05525264e+02] [-1.28276698e-01 9.91737440e-01 -1.39237132e-03 -2.50778275e+01] [-1.28394696e-02 -2.56870676e-04 9.99917538e-01 -5.00383927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:-25.08, Z:-5.01 [[ 9.91475416e-01 1.29697772e-01 1.24493835e-02 2.05553446e+02] [-1.29690953e-01 9.91553536e-01 -1.35692869e-03 -2.50797197e+01] [-1.25202209e-02 -2.69210974e-04 9.99921583e-01 -5.00546282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.58, Y:-25.08, Z:-5.01 [[ 9.91526519e-01 1.29329598e-01 1.22072634e-02 2.05580640e+02] [-1.29323023e-01 9.91601627e-01 -1.32979965e-03 -2.50822090e+01] [-1.22767247e-02 -2.60148583e-04 9.99924604e-01 -5.00665063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:-25.09, Z:-5.01 [[ 9.91641772e-01 1.28464644e-01 1.19762618e-02 2.05608652e+02] [-1.28458266e-01 9.91714059e-01 -1.30352194e-03 -2.50850670e+01] [-1.20444837e-02 -2.45823016e-04 9.99927432e-01 -5.00782990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:-25.09, Z:-5.01 [[ 9.91940103e-01 1.26084003e-01 1.25561566e-02 2.05635538e+02] [-1.26076813e-01 9.92019542e-01 -1.36576109e-03 -2.50861605e+01] [-1.26281533e-02 -2.28287001e-04 9.99920236e-01 -5.00918746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:-25.09, Z:-5.01 [[ 9.92143717e-01 1.24511690e-01 1.21525207e-02 2.05663469e+02] [-1.24504850e-01 9.92218120e-01 -1.32076065e-03 -2.50873143e+01] [-1.22224014e-02 -2.02663388e-04 9.99925283e-01 -5.00996700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:-25.09, Z:-5.01 [[ 9.92604845e-01 1.20695750e-01 1.29675458e-02 2.05690038e+02] [-1.20687648e-01 9.92689533e-01 -1.40840866e-03 -2.50888360e+01] [-1.30427359e-02 -1.67029348e-04 9.99914926e-01 -5.01083531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:-25.09, Z:-5.01 [[ 9.92911152e-01 1.18168464e-01 1.27929260e-02 2.05717721e+02] [-1.18160383e-01 9.92993553e-01 -1.38827919e-03 -2.50919098e+01] [-1.28673439e-02 -1.33179157e-04 9.99917203e-01 -5.01096483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:-25.10, Z:-5.01 [[ 9.93228459e-01 1.15442661e-01 1.30468578e-02 2.05744639e+02] [-1.15434033e-01 9.93314141e-01 -1.41498409e-03 -2.50956363e+01] [-1.31229779e-02 -1.00648947e-04 9.99913885e-01 -5.01212420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:-25.10, Z:-5.01 [[ 9.93849921e-01 1.10046462e-01 1.23333271e-02 2.05772655e+02] [-1.10038349e-01 9.93926444e-01 -1.33655224e-03 -2.50999240e+01] [-1.24055028e-02 -2.88066217e-05 9.99923048e-01 -5.01277432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:-25.10, Z:-5.01 [[ 9.93862610e-01 1.09931799e-01 1.23333683e-02 2.05800970e+02] [-1.09923682e-01 9.93939132e-01 -1.33617260e-03 -2.51028335e+01] [-1.24055052e-02 -2.77572648e-05 9.99923048e-01 -5.01342405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.83, Y:-25.11, Z:-5.01 [[ 9.94125093e-01 1.07581421e-01 1.18969183e-02 2.05827616e+02] [-1.07573717e-01 9.94196277e-01 -1.28751712e-03 -2.51063163e+01] [-1.19663848e-02 1.57362231e-07 9.99928400e-01 -5.01390411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:-25.11, Z:-5.01 [[ 9.94472464e-01 1.04181731e-01 1.30646669e-02 2.05854661e+02] [-1.04172168e-01 9.94558276e-01 -1.41221522e-03 -2.51093755e+01] [-1.31406996e-02 4.34344805e-05 9.99913656e-01 -5.01438334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:-25.11, Z:-5.01 [[ 9.94559003e-01 1.03315061e-01 1.33561873e-02 2.05882594e+02] [-1.03305013e-01 9.94648679e-01 -1.44182830e-03 -2.51126070e+01] [-1.34336767e-02 5.42222027e-05 9.99909763e-01 -5.01452336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:-25.12, Z:-5.02 [[ 9.94608454e-01 1.02813178e-01 1.35452820e-02 2.05910346e+02] [-1.02802811e-01 9.94700682e-01 -1.46129130e-03 -2.51162375e+01] [-1.36237412e-02 6.09196215e-05 9.99907191e-01 -5.01523796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:-25.12, Z:-5.02 [[ 9.94651391e-01 1.02377737e-01 1.36897235e-02 2.05938168e+02] [-1.02367119e-01 9.94745593e-01 -1.47591636e-03 -2.51204368e+01] [-1.37688931e-02 6.66446977e-05 9.99905202e-01 -5.01578024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.96, Y:-25.12, Z:-5.02 [[ 9.94641907e-01 1.02135901e-01 1.59916764e-02 2.05964701e+02] [-1.02121400e-01 9.94770452e-01 -1.72295565e-03 -2.51244807e+01] [-1.60840228e-02 8.06315117e-05 9.99870640e-01 -5.01609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:-25.13, Z:-5.02 [[ 9.94635069e-01 1.02102854e-01 1.66158740e-02 2.05992559e+02] [-1.02087226e-01 9.94773844e-01 -1.78824959e-03 -2.51281119e+01] [-1.67116222e-02 8.23872738e-05 9.99860348e-01 -5.01665557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:-25.13, Z:-5.02 [[ 9.94725261e-01 1.01300182e-01 1.61223138e-02 2.06019685e+02] [-1.01285381e-01 9.94855901e-01 -1.73408506e-03 -2.51330722e+01] [-1.62150421e-02 9.19835230e-05 9.99868523e-01 -5.01734706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.05, Y:-25.14, Z:-5.02 [[ 9.94765098e-01 1.00871412e-01 1.63510715e-02 2.06047341e+02] [-1.00856149e-01 9.94899466e-01 -1.75749849e-03 -2.51368499e+01] [-1.64449537e-02 9.91920484e-05 9.99864768e-01 -5.01832138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:-25.14, Z:-5.02 [[ 9.94802178e-01 1.00562079e-01 1.59967263e-02 2.06074604e+02] [-1.00547443e-01 9.94930781e-01 -1.71862346e-03 -2.51411665e+01] [-1.60884638e-02 1.01260431e-04 9.99870567e-01 -5.01920840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:-25.15, Z:-5.02 [[ 9.94886365e-01 9.99881629e-02 1.42649289e-02 2.06102078e+02] [-9.99764782e-02 9.94988622e-01 -1.53168393e-03 -2.51484335e+01] [-1.43465922e-02 9.76940997e-05 9.99897078e-01 -5.02072819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:-25.15, Z:-5.02 [[ 9.94908553e-01 9.98751883e-02 1.34876612e-02 2.06129241e+02] [-9.98647413e-02 9.94999969e-01 -1.44754303e-03 -2.51537937e+01] [-1.35647961e-02 9.32311469e-05 9.99907990e-01 -5.02201147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:-25.16, Z:-5.02 [[ 9.95016284e-01 9.90683394e-02 1.13162831e-02 2.06156043e+02] [-9.90609381e-02 9.95080628e-01 -1.21407713e-03 -2.51618961e+01] [-1.13808907e-02 8.70248923e-05 9.99935232e-01 -5.02320092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:-25.17, Z:-5.02 [[ 9.95068174e-01 9.86109397e-02 1.07337154e-02 2.06184094e+02] [-9.86042599e-02 9.95126060e-01 -1.15105452e-03 -2.51669607e+01] [-1.07949065e-02 8.69876530e-05 9.99941730e-01 -5.02349496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:-25.18, Z:-5.03 [[ 9.95127670e-01 9.76250563e-02 1.37937877e-02 2.06213158e+02] [-9.77013678e-02 9.95203369e-01 4.96960250e-03 -2.51752014e+01] [-1.32424663e-02 -6.29306088e-03 9.99892511e-01 -5.02611474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:-25.18, Z:-5.02 [[ 9.95034276e-01 9.89104776e-02 1.11133754e-02 2.06240402e+02] [-9.88290648e-02 9.95075005e-01 -7.65177342e-03 -2.51753240e+01] [-1.18154826e-02 6.51545233e-03 9.99908967e-01 -5.02322249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:-25.18, Z:-5.02 [[ 9.94915870e-01 9.99985775e-02 1.19455775e-02 2.06267458e+02] [-9.99904252e-02 9.94987577e-01 -1.27925963e-03 -2.51839108e+01] [-1.20136254e-02 7.83123354e-05 9.99927831e-01 -5.02446081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:-25.19, Z:-5.02 [[ 9.94418616e-01 1.04749799e-01 1.26133187e-02 2.06294501e+02] [-1.04741099e-01 9.94498607e-01 -1.35017162e-03 -2.51891265e+01] [-1.26853581e-02 2.15029317e-05 9.99919537e-01 -5.02437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:-25.19, Z:-5.02 [[ 9.94091184e-01 1.07781438e-01 1.28794351e-02 2.06321900e+02] [-1.07772641e-01 9.94174613e-01 -1.37716212e-03 -2.51934278e+01] [-1.29528399e-02 -1.90260158e-05 9.99916108e-01 -5.02421820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:-25.20, Z:-5.02 [[ 9.93691514e-01 1.11364381e-01 1.32344265e-02 2.06348608e+02] [-1.11355422e-01 9.93779638e-01 -1.41423961e-03 -2.51974649e+01] [-1.33095995e-02 -6.84072565e-05 9.99911421e-01 -5.02495968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:-25.20, Z:-5.02 [[ 9.92843975e-01 1.18763671e-01 1.24912847e-02 2.06376384e+02] [-1.18756289e-01 9.92922537e-01 -1.33365746e-03 -2.51991276e+01] [-1.25612681e-02 -1.59304843e-04 9.99921091e-01 -5.02476413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:-25.20, Z:-5.03 [[ 9.92415790e-01 1.22274185e-01 1.26460480e-02 2.06403163e+02] [-1.22266911e-01 9.92496338e-01 -1.34964163e-03 -2.52005421e+01] [-1.27161827e-02 -2.06787560e-04 9.99919125e-01 -5.02580406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:-25.20, Z:-5.03 [[ 9.92038473e-01 1.25290913e-01 1.27222175e-02 2.06429784e+02] [-1.25283813e-01 9.92120016e-01 -1.35667126e-03 -2.52022468e+01] [-1.27919452e-02 -2.48017838e-04 9.99918149e-01 -5.02635955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:-25.20, Z:-5.03 [[ 9.91477793e-01 1.29694206e-01 1.22962645e-02 2.06457584e+02] [-1.29687925e-01 9.91553995e-01 -1.31016103e-03 -2.52022623e+01] [-1.23623305e-02 -2.95681459e-04 9.99923540e-01 -5.02747168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:-25.20, Z:-5.03 [[ 9.91335585e-01 1.30809114e-01 1.19471372e-02 2.06484399e+02] [-1.30803274e-01 9.91407527e-01 -1.27227086e-03 -2.52036575e+01] [-1.20109064e-02 -3.01477282e-04 9.99927821e-01 -5.02843785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:-25.20, Z:-5.03 [[ 9.91277695e-01 1.31331764e-01 1.09772093e-02 2.06512059e+02] [-1.31326876e-01 9.91338432e-01 -1.16806978e-03 -2.52046513e+01] [-1.10355342e-02 -2.83721095e-04 9.99939066e-01 -5.03015510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:-25.21, Z:-5.03 [[ 9.91361585e-01 1.30733632e-01 1.05321367e-02 2.06538917e+02] [-1.30729104e-01 9.91417494e-01 -1.12015880e-03 -2.52054000e+01] [-1.05881870e-02 -2.66374393e-04 9.99943908e-01 -5.03070060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:-25.21, Z:-5.03 [[ 9.91520265e-01 1.29493302e-01 1.09109603e-02 2.06567040e+02] [-1.29488380e-01 9.91580262e-01 -1.15932019e-03 -2.52056824e+01] [-1.09692171e-02 -2.63353118e-04 9.99939802e-01 -5.03144444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:-25.21, Z:-5.03 [[ 9.92157328e-01 1.24466130e-01 1.14899051e-02 2.06594039e+02] [-1.24460344e-01 9.92223833e-01 -1.22006003e-03 -2.52051568e+01] [-1.15524139e-02 -2.19546047e-04 9.99933245e-01 -5.03192330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:-25.21, Z:-5.03 [[ 9.92611087e-01 1.20781032e-01 1.16263835e-02 2.06622370e+02] [-1.20774867e-01 9.92679158e-01 -1.23344114e-03 -2.52066606e+01] [-1.16902449e-02 -1.79847568e-04 9.99931651e-01 -5.03246214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:-25.21, Z:-5.03 [[ 9.93656572e-01 1.11992362e-01 1.02141361e-02 2.06649669e+02] [-1.11988931e-01 9.93709038e-01 -9.09031213e-04 -2.52070143e+01] [-1.02516839e-02 -2.40605345e-04 9.99947421e-01 -5.03264035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.68, Y:-25.21, Z:-5.03 [[ 9.94107660e-01 1.07736773e-01 1.19477152e-02 2.06677877e+02] [-1.07727492e-01 9.94179447e-01 -1.41953198e-03 -2.52101212e+01] [-1.20311086e-02 1.24070226e-04 9.99927616e-01 -5.03363871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.71, Y:-25.21, Z:-5.03 [[ 9.94516602e-01 1.03830496e-01 1.24882698e-02 2.06705933e+02] [-1.03822076e-01 9.94595007e-01 -1.32245144e-03 -2.52132747e+01] [-1.25580816e-02 1.86418175e-05 9.99921144e-01 -5.03425602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:-25.22, Z:-5.03 [[ 9.95083510e-01 9.82675538e-02 1.23408497e-02 2.06733762e+02] [-9.82589155e-02 9.95160028e-01 -1.30582726e-03 -2.52166656e+01] [-1.24094408e-02 8.68086612e-05 9.99922996e-01 -5.03478667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:-25.22, Z:-5.04 [[ 9.95251977e-01 9.66821086e-02 1.12281735e-02 2.06761729e+02] [-9.66748617e-02 9.95315307e-01 -1.18766895e-03 -2.52193145e+01] [-1.12903992e-02 9.65477570e-05 9.99936257e-01 -5.03523347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:-25.22, Z:-5.04 [[ 9.95323211e-01 9.61414619e-02 9.40879311e-03 2.06788659e+02] [-9.61363492e-02 9.95367677e-01 -9.95226234e-04 -2.52198019e+01] [-9.46089105e-03 8.60447506e-05 9.99955241e-01 -5.03640164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.82, Y:-25.22, Z:-5.04 [[ 9.95229317e-01 9.71295926e-02 9.18957778e-03 2.06816422e+02] [-9.71247694e-02 9.95271740e-01 -9.70749139e-04 -2.52203958e+01] [-9.24041554e-03 7.35823808e-05 9.99957304e-01 -5.03686320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:-25.22, Z:-5.04 [[ 9.95080895e-01 9.86418496e-02 9.15414850e-03 2.06843877e+02] [-9.86371320e-02 9.95122998e-01 -9.66504134e-04 -2.52214124e+01] [-9.20484146e-03 5.88108450e-05 9.99957633e-01 -5.03670425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:-25.22, Z:-5.04 [[ 9.94696125e-01 1.02318991e-01 1.05092161e-02 2.06871576e+02] [-1.02312992e-01 9.94751639e-01 -1.10825923e-03 -2.52225922e+01] [-1.05674559e-02 2.71518181e-05 9.99944163e-01 -5.03729146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.90, Y:-25.22, Z:-5.04 [[ 9.94486477e-01 1.04290229e-01 1.09633461e-02 2.06898489e+02] [-1.04283829e-01 9.94546906e-01 -1.15542828e-03 -2.52249928e+01] [-1.10240618e-02 5.75810284e-06 9.99939233e-01 -5.03800796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:-25.23, Z:-5.04 [[ 9.94010960e-01 1.08768569e-01 1.05645762e-02 2.06926809e+02] [-1.08762888e-01 9.94067099e-01 -1.11244657e-03 -2.52265443e+01] [-1.06228968e-02 -4.32497378e-05 9.99943575e-01 -5.03843082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.95, Y:-25.23, Z:-5.04 [[ 9.93755113e-01 1.11076008e-01 1.06252603e-02 2.06954816e+02] [-1.11070402e-01 9.93811912e-01 -1.11806864e-03 -2.52276164e+01] [-1.06837008e-02 -6.90655071e-05 9.99942925e-01 -5.03888626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:-25.22, Z:-5.04 [[ 9.93291331e-01 1.15057212e-01 1.15831610e-02 2.06981873e+02] [-1.15050825e-01 9.93358859e-01 -1.21848913e-03 -2.52244092e+01] [-1.16464316e-02 -1.22337533e-04 9.99932171e-01 -5.03879612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:-25.22, Z:-5.04 [[ 9.93110158e-01 1.16613372e-01 1.15557346e-02 2.07010163e+02] [-1.16607144e-01 9.93177377e-01 -1.21356817e-03 -2.52249338e+01] [-1.16184125e-02 -1.42274338e-04 9.99932494e-01 -5.03926419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:-25.23, Z:-5.04 [[ 9.92954363e-01 1.17957829e-01 1.12952656e-02 2.07038564e+02] [-1.17951974e-01 9.93018593e-01 -1.18546739e-03 -2.52260177e+01] [-1.13562440e-02 -1.55183861e-04 9.99935504e-01 -5.03946317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:-25.22, Z:-5.04 [[ 9.92644272e-01 1.20571598e-01 1.09471267e-02 2.07065498e+02] [-1.20566264e-01 9.92704617e-01 -1.14831534e-03 -2.52247201e+01] [-1.10057175e-02 -1.79985521e-04 9.99939419e-01 -5.03984217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:-25.23, Z:-5.04 [[ 9.92459152e-01 1.22073257e-01 1.10883726e-02 2.07092734e+02] [-1.22067889e-01 9.92521073e-01 -1.16216167e-03 -2.52253887e+01] [-1.11473124e-02 -2.00136263e-04 9.99937847e-01 -5.04053537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:-25.22, Z:-5.04 [[ 9.92095637e-01 1.25005144e-01 1.09527018e-02 2.07121392e+02] [-1.25000096e-01 9.92156067e-01 -1.14690594e-03 -2.52221973e+01] [-1.10101587e-02 -2.31248404e-04 9.99939360e-01 -5.04061546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:-25.22, Z:-5.04 [[ 9.91929715e-01 1.26265474e-01 1.15095433e-02 2.07148223e+02] [-1.26259995e-01 9.91996453e-01 -1.20442353e-03 -2.52210834e+01] [-1.15695032e-02 -2.58491384e-04 9.99933038e-01 -5.04105801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:-25.22, Z:-5.04 [[ 9.91793179e-01 1.27262361e-01 1.22711925e-02 2.07176598e+02] [-1.27256224e-01 9.91869048e-01 -1.28283206e-03 -2.52205718e+01] [-1.23346723e-02 -2.89281544e-04 9.99923883e-01 -5.04150223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:-25.22, Z:-5.04 [[ 9.91750921e-01 1.27675216e-01 1.13643745e-02 2.07202117e+02] [-1.27656123e-01 9.91815602e-01 -2.39287778e-03 -2.52150607e+01] [-1.15768751e-02 9.22406764e-04 9.99932560e-01 -5.04172295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.23, Y:-25.22, Z:-5.04 [[ 9.91918924e-01 1.26274329e-01 1.23143099e-02 2.07232516e+02] [-1.26283763e-01 9.91994159e-01 -1.15627438e-05 -2.52164165e+01] [-1.22171836e-02 -1.54362809e-03 9.99924176e-01 -5.04222321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:-25.21, Z:-5.04 [[ 9.92133096e-01 1.24606154e-01 1.20509917e-02 2.07261199e+02] [-1.24600090e-01 9.92206249e-01 -1.25562984e-03 -2.52148549e+01] [-1.21135285e-02 -2.55802741e-04 9.99926596e-01 -5.04311910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:-25.21, Z:-5.04 [[ 9.92748946e-01 1.19655487e-01 1.14932461e-02 2.07289492e+02] [-1.19649648e-01 9.92815456e-01 -1.19677771e-03 -2.52129528e+01] [-1.15538733e-02 -1.87063033e-04 9.99933234e-01 -5.04483873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:-25.21, Z:-5.05 [[ 9.93098429e-01 1.16752243e-01 1.11545716e-02 2.07316534e+02] [-1.16746567e-01 9.93161060e-01 -1.16089165e-03 -2.52142300e+01] [-1.12138229e-02 -1.49378269e-04 9.99937112e-01 -5.04587899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.34, Y:-25.21, Z:-5.05 [[ 9.93682065e-01 1.11668659e-01 1.12278519e-02 2.07344719e+02] [-1.11662595e-01 9.93745491e-01 -1.16746548e-03 -2.52125968e+01] [-1.12879965e-02 -9.36415797e-05 9.99936284e-01 -5.04557594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:-25.21, Z:-5.05 [[ 9.93960732e-01 1.09129025e-01 1.15290608e-02 2.07372161e+02] [-1.09122469e-01 9.94027591e-01 -1.19804309e-03 -2.52126487e+01] [-1.15909458e-02 -6.72717912e-05 9.99932820e-01 -5.04586479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.40, Y:-25.21, Z:-5.05 [[ 9.94245907e-01 1.06493530e-01 1.15846882e-02 2.07400027e+02] [-1.06486745e-01 9.94313395e-01 -1.20272648e-03 -2.52124573e+01] [-1.16468933e-02 -3.78098621e-05 9.99932172e-01 -5.04590659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:-25.21, Z:-5.05 [[ 9.94740456e-01 1.01750960e-01 1.17544451e-02 2.07427902e+02] [-1.01743652e-01 9.94809902e-01 -1.21960935e-03 -2.52091021e+01] [-1.18175348e-02 1.72545910e-05 9.99930170e-01 -5.04571272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:-25.21, Z:-5.05 [[ 9.94979112e-01 9.93115311e-02 1.24010981e-02 2.07454894e+02] [-9.93032219e-02 9.95056389e-01 -1.28553393e-03 -2.52097169e+01] [-1.24674603e-02 4.76104129e-05 9.99922277e-01 -5.04654519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.48, Y:-25.21, Z:-5.05 [[ 9.95432168e-01 9.45222206e-02 1.34293884e-02 2.07482420e+02] [-9.45120578e-02 9.95522745e-01 -1.39083008e-03 -2.52111073e+01] [-1.35007260e-02 1.15237868e-04 9.99908854e-01 -5.04706345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:-25.21, Z:-5.05 [[ 9.95636113e-01 9.23093871e-02 1.37006231e-02 2.07510134e+02] [-9.22986142e-02 9.95730363e-01 -1.41789735e-03 -2.52131160e+01] [-1.37730116e-02 1.47161285e-04 9.99905137e-01 -5.04782826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:-25.22, Z:-5.05 [[ 9.95641577e-01 9.22504177e-02 1.37007346e-02 2.07538470e+02] [-9.22396540e-02 9.95735828e-01 -1.41681816e-03 -2.52159234e+01] [-1.37730144e-02 1.46892045e-04 9.99905137e-01 -5.04847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:-25.22, Z:-5.05 [[ 9.95856958e-01 8.98962586e-02 1.36960554e-02 2.07565157e+02] [-8.98852880e-02 9.95951119e-01 -1.41572649e-03 -2.52177815e+01] [-1.37678702e-02 1.78787194e-04 9.99905202e-01 -5.04895269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:-25.22, Z:-5.05 [[ 9.96252269e-01 8.55115892e-02 1.30070951e-02 2.07593050e+02] [-8.55013353e-02 9.96337150e-01 -1.34340032e-03 -2.52214787e+01] [-1.30743284e-02 2.26241617e-04 9.99914502e-01 -5.05004214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:-25.22, Z:-5.05 [[ 9.96408936e-01 8.37210823e-02 1.26495917e-02 2.07619414e+02] [-8.37112455e-02 9.96489198e-01 -1.30605478e-03 -2.52248142e+01] [-1.27145258e-02 2.42451576e-04 9.99919138e-01 -5.05044065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:-25.23, Z:-5.05 [[ 9.96568492e-01 8.18782805e-02 1.21321004e-02 2.07646838e+02] [-8.18691167e-02 9.96642304e-01 -1.25089251e-03 -2.52285335e+01] [-1.21937854e-02 2.53355725e-04 9.99925621e-01 -5.05159060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:-25.23, Z:-5.05 [[ 9.96583966e-01 8.17260434e-02 1.18850010e-02 2.07673650e+02] [-8.17172420e-02 9.96654801e-01 -1.22510291e-03 -2.52318961e+01] [-1.19453661e-02 2.49708416e-04 9.99928620e-01 -5.05222677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:-25.24, Z:-5.05 [[ 9.96582138e-01 8.17689062e-02 1.17425681e-02 2.07701100e+02] [-8.17603392e-02 9.96651286e-01 -1.20858558e-03 -2.52355129e+01] [-1.18020703e-02 2.44378457e-04 9.99930323e-01 -5.05268623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:-25.24, Z:-5.05 [[ 9.96462295e-01 8.32166176e-02 1.17426394e-02 2.07728606e+02] [-8.32081605e-02 9.96531456e-01 -1.20778514e-03 -2.52401373e+01] [-1.18024173e-02 2.26428924e-04 9.99930323e-01 -5.05300976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:-25.24, Z:-5.05 [[ 9.96347758e-01 8.45931231e-02 1.16253503e-02 2.07755419e+02] [-8.45849358e-02 9.96415556e-01 -1.19503262e-03 -2.52438434e+01] [-1.16847714e-02 2.07338564e-04 9.99931709e-01 -5.05326232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.78, Y:-25.25, Z:-5.05 [[ 9.96036255e-01 8.82420708e-02 1.11855040e-02 2.07783300e+02] [-8.82347324e-02 9.96099047e-01 -1.14883072e-03 -2.52473600e+01] [-1.12432451e-02 1.57327095e-04 9.99936780e-01 -5.05368903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:-25.25, Z:-5.05 [[ 9.95841255e-01 9.03783529e-02 1.14869099e-02 2.07810954e+02] [-9.03707656e-02 9.95907493e-01 -1.17893533e-03 -2.52507482e+01] [-1.15464498e-02 1.35951601e-04 9.99933328e-01 -5.05357442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:-25.26, Z:-5.05 [[ 9.95633659e-01 9.26503960e-02 1.13807365e-02 2.07838990e+02] [-9.26431056e-02 9.95698696e-01 -1.16726312e-03 -2.52550107e+01] [-1.14399318e-02 1.07819680e-04 9.99934556e-01 -5.05474702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:-25.26, Z:-5.06 [[ 9.95167995e-01 9.75271037e-02 1.13633499e-02 2.07865182e+02] [-9.75201612e-02 9.95232868e-01 -1.16478563e-03 -2.52611498e+01] [-1.14227775e-02 5.10016698e-05 9.99934757e-01 -5.05532365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:-25.26, Z:-5.06 [[ 9.94894909e-01 1.00278361e-01 1.13300981e-02 2.07892091e+02] [-1.00271648e-01 9.94959421e-01 -1.16040547e-03 -2.52645334e+01] [-1.13893514e-02 1.83938863e-05 9.99935139e-01 -5.05600016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:-25.27, Z:-5.06 [[ 9.94271906e-01 1.06299645e-01 1.11248745e-02 2.07919999e+02] [-1.06293562e-01 9.94334140e-01 -1.13833670e-03 -2.52672081e+01] [-1.11828474e-02 -5.06863435e-05 9.99937469e-01 -5.05645477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:-25.27, Z:-5.06 [[ 9.94000885e-01 1.08814058e-01 1.10336239e-02 2.07947086e+02] [-1.08808236e-01 9.94062118e-01 -1.12835918e-03 -2.52697134e+01] [-1.10908889e-02 -7.89591302e-05 9.99938491e-01 -5.05687726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:-25.27, Z:-5.06 [[ 9.93772995e-01 1.10871983e-01 1.10742290e-02 2.07973841e+02] [-1.10866250e-01 9.93834691e-01 -1.13212744e-03 -2.52723062e+01] [-1.11314742e-02 -1.02680563e-04 9.99938038e-01 -5.05718011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:-25.28, Z:-5.06 [[ 9.93515125e-01 1.13179461e-01 1.08676909e-02 2.08001886e+02] [-1.13174101e-01 9.93574553e-01 -1.10894689e-03 -2.52764829e+01] [-1.09233712e-02 -1.28185646e-04 9.99940330e-01 -5.05883080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:-25.28, Z:-5.06 [[ 9.93479327e-01 1.13557995e-01 1.01690232e-02 2.08029587e+02] [-1.13553327e-01 9.93531362e-01 -1.03705225e-03 -2.52814680e+01] [-1.02210090e-02 -1.24436441e-04 9.99947756e-01 -5.05967648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:-25.29, Z:-5.06 [[ 9.93530439e-01 1.13150641e-01 9.70568509e-03 2.08056596e+02] [-1.13146374e-01 9.93577838e-01 -9.89324195e-04 -2.52870285e+01] [-9.75529627e-03 -1.15239374e-04 9.99952409e-01 -5.06073649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:-25.29, Z:-5.06 [[ 9.93620477e-01 1.12356545e-01 9.71363589e-03 2.08084500e+02] [-1.12352243e-01 9.93667950e-01 -9.89165450e-04 -2.52903352e+01] [-9.76326788e-03 -1.08493733e-04 9.99952332e-01 -5.06124977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:-25.29, Z:-5.06 [[ 9.93747166e-01 1.11193683e-01 1.01259255e-02 2.08111337e+02] [-1.11188954e-01 9.93798750e-01 -1.03049761e-03 -2.52938091e+01] [-1.01777169e-02 -1.01836986e-04 9.99948201e-01 -5.06250908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.14, Y:-25.30, Z:-5.06 [[ 9.94070576e-01 1.08264159e-01 1.01273026e-02 2.08138204e+02] [-1.08259286e-01 9.94122159e-01 -1.02977723e-03 -2.52997441e+01] [-1.01792639e-02 -7.27033057e-05 9.99948187e-01 -5.06311791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:-25.30, Z:-5.06 [[ 9.94270001e-01 1.06420690e-01 1.00896858e-02 2.08165054e+02] [-1.06415760e-01 9.94321193e-01 -1.02568306e-03 -2.53037920e+01] [-1.01415423e-02 -5.38956843e-05 9.99948572e-01 -5.06394455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:-25.31, Z:-5.06 [[ 9.94607319e-01 1.03098679e-01 1.12669213e-02 2.08193085e+02] [-1.03092345e-01 9.94671133e-01 -1.14299582e-03 -2.53095548e+01] [-1.13247228e-02 -2.47013378e-05 9.99935873e-01 -5.06437338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:-25.31, Z:-5.06 [[ 9.94759863e-01 1.01583915e-01 1.15552204e-02 2.08221069e+02] [-1.01577161e-01 9.94826974e-01 -1.17138335e-03 -2.53145008e+01] [-1.16144387e-02 -8.50134288e-06 9.99932550e-01 -5.06477963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:-25.32, Z:-5.07 [[ 9.94918933e-01 1.00077618e-01 1.09903163e-02 2.08247318e+02] [-1.00071422e-01 9.94979633e-01 -1.11355337e-03 -2.53193438e+01] [-1.10465826e-02 8.07874493e-06 9.99938985e-01 -5.06527968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:-25.32, Z:-5.07 [[ 9.95142746e-01 9.78848132e-02 1.04632065e-02 2.08274771e+02] [-9.78790867e-02 9.95197750e-01 -1.05921563e-03 -2.53243779e+01] [-1.05166407e-02 2.99416503e-05 9.99944698e-01 -5.06606845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.30, Y:-25.33, Z:-5.07 [[ 9.95223866e-01 9.70136450e-02 1.08540002e-02 2.08301337e+02] [-9.70074384e-02 9.95283051e-01 -1.09809316e-03 -2.53302604e+01] [-1.09093324e-02 3.99297646e-05 9.99940491e-01 -5.06703668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:-25.34, Z:-5.07 [[ 9.95237995e-01 9.68332628e-02 1.11648122e-02 2.08329147e+02] [-9.68266956e-02 9.95300617e-01 -1.12852241e-03 -2.53353750e+01] [-1.12216230e-02 4.20965078e-05 9.99937035e-01 -5.06743538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:-25.34, Z:-5.07 [[ 9.95219772e-01 9.70188687e-02 1.11778201e-02 2.08356250e+02] [-9.70123059e-02 9.95282542e-01 -1.12913342e-03 -2.53400520e+01] [-1.12346364e-02 3.93498057e-05 9.99936889e-01 -5.06801526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:-25.34, Z:-5.07 [[ 9.95184782e-01 9.74119896e-02 1.08698625e-02 2.08382703e+02] [-9.74058168e-02 9.95244143e-01 -1.09711846e-03 -2.53441225e+01] [-1.09250395e-02 3.30477560e-05 9.99940319e-01 -5.06889375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:-25.35, Z:-5.07 [[ 9.95070264e-01 9.86548458e-02 1.01188695e-02 2.08409590e+02] [-9.86495685e-02 9.95121712e-01 -1.02055672e-03 -2.53489064e+01] [-1.01701896e-02 1.73035398e-05 9.99948282e-01 -5.06954921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382200002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:208.44, Y:-25.35, Z:-5.07 [[ 9.94928482e-01 1.00172755e-01 9.09584016e-03 2.08437311e+02] [-1.00168561e-01 9.94970059e-01 -9.16656417e-04 -2.53533537e+01] [-9.14191262e-03 8.90362597e-07 9.99958212e-01 -5.07074552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:-25.36, Z:-5.07 [[ 9.94817433e-01 1.01286110e-01 8.91060352e-03 2.08464971e+02] [-1.01282135e-01 9.94857338e-01 -8.97392447e-04 -2.53580176e+01] [-8.95567270e-03 -9.74330267e-06 9.99959897e-01 -5.07150657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:-25.36, Z:-5.07 [[ 9.94728589e-01 1.02160318e-01 8.84893426e-03 2.08491973e+02] [-1.02156437e-01 9.94767947e-01 -8.90711744e-04 -2.53618892e+01] [-8.89363157e-03 -1.79591592e-05 9.99960451e-01 -5.07230942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:-25.37, Z:-5.07 [[ 9.94574769e-01 1.03663212e-01 8.65837364e-03 2.08519770e+02] [-1.03659561e-01 9.94612456e-01 -8.70631251e-04 -2.53664323e+01] [-8.70197870e-03 -3.16153315e-05 9.99962137e-01 -5.07259083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:-25.37, Z:-5.07 [[ 9.94479659e-01 1.04591643e-01 8.41407460e-03 2.08547092e+02] [-1.04588231e-01 9.94515252e-01 -8.45678456e-04 -2.53690303e+01] [-8.45637642e-03 -3.90031539e-05 9.99964243e-01 -5.07282064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:-25.37, Z:-5.07 [[ 9.94357836e-01 1.05755590e-01 8.26128520e-03 2.08575150e+02] [-1.05752348e-01 9.94392152e-01 -8.29496880e-04 -2.53709299e+01] [-8.30268111e-03 -4.88335821e-05 9.99965531e-01 -5.07315577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:-25.37, Z:-5.07 [[ 9.94108555e-01 1.08107429e-01 7.80802956e-03 2.08602089e+02] [-1.08104603e-01 9.94139215e-01 -7.84338355e-04 -2.53729133e+01] [-7.84706118e-03 -6.43664670e-05 9.99969209e-01 -5.07469950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:-25.38, Z:-5.08 [[ 9.94049906e-01 1.08624124e-01 8.09834132e-03 2.08630101e+02] [-1.08621117e-01 9.94082891e-01 -8.11520213e-04 -2.53759192e+01] [-8.13857323e-03 -7.29592892e-05 9.99966879e-01 -5.07552841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.66, Y:-25.38, Z:-5.08 [[ 9.94062098e-01 1.08470167e-01 8.64684087e-03 2.08657927e+02] [-1.08466739e-01 9.94099702e-01 -8.65808527e-04 -2.53786489e+01] [-8.68973632e-03 -7.72271888e-05 9.99962241e-01 -5.07566984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:-25.38, Z:-5.08 [[ 9.94151954e-01 1.07617165e-01 8.96877669e-03 2.08685050e+02] [-1.07613447e-01 9.94192406e-01 -8.97482956e-04 -2.53819870e+01] [-9.01327425e-03 -7.29265441e-05 9.99959377e-01 -5.07623956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:-25.39, Z:-5.08 [[ 9.94321637e-01 1.05995904e-01 9.45256287e-03 2.08711586e+02] [-1.05991705e-01 9.94366564e-01 -9.45485020e-04 -2.53851387e+01] [-9.49953000e-03 -6.17770428e-05 9.99954877e-01 -5.07694884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:-25.39, Z:-5.08 [[ 9.94742371e-01 1.01904662e-01 1.01515702e-02 2.08739110e+02] [-1.01899628e-01 9.94794169e-01 -1.01330592e-03 -2.53888033e+01] [-1.02019834e-02 -2.64628898e-05 9.99947958e-01 -5.07695328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:-25.39, Z:-5.08 [[ 9.94984327e-01 9.95307046e-02 9.99139540e-03 2.08765932e+02] [-9.95257134e-02 9.95034491e-01 -9.96758940e-04 -2.53921561e+01] [-1.00409912e-02 -2.64123269e-06 9.99949588e-01 -5.07782592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.79, Y:-25.40, Z:-5.08 [[ 9.95464507e-01 9.45493713e-02 1.05276319e-02 2.08793537e+02] [-9.45435634e-02 9.95520173e-01 -1.04911303e-03 -2.53991778e+01] [-1.05796629e-02 4.90349545e-05 9.99944033e-01 -5.07876119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:208.82, Y:-25.40, Z:-5.08 [[ 9.95682689e-01 9.21792131e-02 1.09076193e-02 2.08819893e+02] [-9.21728440e-02 9.95742430e-01 -1.08626456e-03 -2.54039087e+01] [-1.09613104e-02 7.61885271e-05 9.99939920e-01 -5.07944014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:-25.41, Z:-5.08 [[ 9.95841943e-01 9.04121618e-02 1.11564247e-02 2.08847330e+02] [-9.04054021e-02 9.95904429e-01 -1.10977389e-03 -2.54097909e+01] [-1.12110698e-02 9.65583260e-05 9.99937149e-01 -5.07953856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:-25.42, Z:-5.08 [[ 9.96085417e-01 8.78021943e-02 1.02282250e-02 2.08874453e+02] [-8.77963782e-02 9.96137923e-01 -1.01713112e-03 -2.54178821e+01] [-1.02780292e-02 1.15148368e-04 9.99947173e-01 -5.07964778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:-25.42, Z:-5.08 [[ 9.96105946e-01 8.75942665e-02 1.00093896e-02 2.08901667e+02] [-8.75886928e-02 9.96156228e-01 -9.94704666e-04 -2.54249776e+01] [-1.00580463e-02 1.14121879e-04 9.99949410e-01 -5.07934514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:-25.43, Z:-5.08 [[ 9.96029168e-01 8.85098359e-02 9.58678106e-03 2.08929588e+02] [-8.85047712e-02 9.96075298e-01 -9.52096585e-04 -2.54296053e+01] [-9.63342572e-03 9.98401042e-05 9.99953592e-01 -5.07875783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:-25.43, Z:-5.08 [[ 9.95881723e-01 9.02057574e-02 9.08373214e-03 2.08956934e+02] [-9.02012857e-02 9.95923147e-01 -9.01601607e-04 -2.54348561e+01] [-9.12802876e-03 7.85242450e-05 9.99958336e-01 -5.07916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:208.98, Y:-25.44, Z:-5.08 [[ 9.95655377e-01 9.26851000e-02 8.93547050e-03 2.08983598e+02] [-9.26808770e-02 9.95695470e-01 -8.86422702e-04 -2.54397142e+01] [-8.97916568e-03 5.44242867e-05 9.99959685e-01 -5.07984014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:-25.45, Z:-5.08 [[ 9.94956349e-01 9.98075150e-02 1.00161824e-02 2.09009776e+02] [-9.98025779e-02 9.95006764e-01 -9.92793002e-04 -2.54470818e+01] [-1.00652574e-02 -1.18551233e-05 9.99949344e-01 -5.07910237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:-25.45, Z:-5.08 [[ 9.94543315e-01 1.03839635e-01 1.00461373e-02 2.09038106e+02] [-1.03834889e-01 9.94594051e-01 -9.94292317e-04 -2.54497729e+01] [-1.00950753e-02 -5.42727713e-05 9.99949042e-01 -5.07877658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:-25.45, Z:-5.08 [[ 9.93736349e-01 1.11327162e-01 9.71243443e-03 2.09065423e+02] [-1.11323084e-01 9.93783803e-01 -9.61191570e-04 -2.54523152e+01] [-9.75906675e-03 -1.26047155e-04 9.99952371e-01 -5.07885453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.09, Y:-25.46, Z:-5.08 [[ 9.93359321e-01 1.14628209e-01 9.88094861e-03 2.09093157e+02] [-1.14624169e-01 9.93408449e-01 -9.76113381e-04 -2.54555024e+01] [-9.92770797e-03 -1.62964194e-04 9.99950706e-01 -5.07951451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:-25.46, Z:-5.08 [[ 9.92953943e-01 1.18070254e-01 1.00936403e-02 2.09120663e+02] [-1.18066225e-01 9.93005224e-01 -9.96250075e-04 -2.54586831e+01] [-1.01406651e-02 -2.02487563e-04 9.99948562e-01 -5.07965157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:-25.46, Z:-5.08 [[ 9.92232532e-01 1.24010602e-01 9.79658115e-03 2.09147392e+02] [-1.24007098e-01 9.92280860e-01 -9.66689659e-04 -2.54615332e+01] [-9.84083974e-03 -2.55664667e-04 9.99951545e-01 -5.08031977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:-25.46, Z:-5.08 [[ 9.91676298e-01 1.28402618e-01 9.53349448e-03 2.09175445e+02] [-1.28399511e-01 9.91722079e-01 -9.39798392e-04 -2.54647143e+01] [-9.57524954e-03 -2.92120240e-04 9.99954114e-01 -5.08082207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:-25.47, Z:-5.08 [[ 9.91481261e-01 1.29863396e-01 1.00203760e-02 2.09202150e+02] [-1.29860045e-01 9.91531842e-01 -9.87140641e-04 -2.54660186e+01] [-1.00637153e-02 -3.22515030e-04 9.99949308e-01 -5.08134533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:-25.47, Z:-5.08 [[ 9.91336846e-01 1.30938437e-01 1.03142497e-02 2.09230657e+02] [-1.30934955e-01 9.91390441e-01 -1.01504287e-03 -2.54664968e+01] [-1.03583567e-02 -3.44246421e-04 9.99946292e-01 -5.08173639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:-25.47, Z:-5.08 [[ 9.91284899e-01 1.31333160e-01 1.02883608e-02 2.09258118e+02] [-1.31329717e-01 9.91338227e-01 -1.01249107e-03 -2.54668219e+01] [-1.03322190e-02 -3.47500406e-04 9.99946561e-01 -5.08266836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:-25.47, Z:-5.08 [[ 9.91308622e-01 1.31153971e-01 1.02884353e-02 2.09286452e+02] [-1.31150526e-01 9.91361950e-01 -1.01173330e-03 -2.54694104e+01] [-1.03322562e-02 -3.46393772e-04 9.99946561e-01 -5.08331787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:-25.47, Z:-5.08 [[ 9.91424937e-01 1.30247575e-01 1.05907429e-02 2.09313359e+02] [-1.30243907e-01 9.91481440e-01 -1.03822129e-03 -2.54704373e+01] [-1.06357509e-02 -3.50061265e-04 9.99943378e-01 -5.08416042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:-25.47, Z:-5.08 [[ 9.91819001e-01 1.27234130e-01 1.03221271e-02 2.09340805e+02] [-1.27230493e-01 9.91872663e-01 -1.01091248e-03 -2.54721972e+01] [-1.03668583e-02 -3.10647119e-04 9.99946214e-01 -5.08485492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.37, Y:-25.47, Z:-5.09 [[ 9.92064365e-01 1.25359638e-01 9.65690534e-03 2.09368702e+02] [-1.25356372e-01 9.92111328e-01 -9.45189180e-04 -2.54731058e+01] [-9.69921376e-03 -2.72866115e-04 9.99952924e-01 -5.08594965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:-25.48, Z:-5.09 [[ 9.92387190e-01 1.22824261e-01 9.04796655e-03 2.09396236e+02] [-1.22821294e-01 9.92428409e-01 -8.85021453e-04 -2.54753670e+01] [-9.08816115e-03 -2.32999003e-04 9.99958675e-01 -5.08616633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:-25.48, Z:-5.09 [[ 9.93025107e-01 1.17496936e-01 9.77787748e-03 2.09423208e+02] [-1.17493219e-01 9.93073225e-01 -9.55715358e-04 -2.54759352e+01] [-9.82244195e-03 -1.99784953e-04 9.99951739e-01 -5.08666610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:-25.48, Z:-5.09 [[ 9.93379407e-01 1.14462844e-01 9.77813457e-03 2.09451091e+02] [-1.14458990e-01 9.93427515e-01 -9.54745703e-04 -2.54774687e+01] [-9.82315084e-03 -1.70770686e-04 9.99951737e-01 -5.08719016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:-25.48, Z:-5.09 [[ 9.94131871e-01 1.07689982e-01 1.02318803e-02 2.09479718e+02] [-1.07685411e-01 9.94184518e-01 -9.98226954e-04 -2.54771229e+01] [-1.02798760e-02 -1.09455006e-04 9.99947155e-01 -5.08750559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:-25.48, Z:-5.09 [[ 9.94536170e-01 1.03921045e-01 9.91078108e-03 2.09506823e+02] [-1.03916574e-01 9.94585548e-01 -9.66376192e-04 -2.54791624e+01] [-9.95754645e-03 -6.87983394e-05 9.99950420e-01 -5.08824856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:-25.48, Z:-5.09 [[ 9.95202139e-01 9.73887039e-02 9.38842328e-03 2.09533577e+02] [-9.73844044e-02 9.95246422e-01 -9.15118994e-04 -2.54817635e+01] [-9.43291693e-03 -3.55762874e-06 9.99955509e-01 -5.08871951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:-25.48, Z:-5.09 [[ 9.95453500e-01 9.47823153e-02 9.41502302e-03 2.09561459e+02] [-9.47778895e-02 9.95498022e-01 -9.16153078e-04 -2.54839715e+01] [-9.45947191e-03 1.96517766e-05 9.99955258e-01 -5.08916033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:-25.49, Z:-5.09 [[ 9.95643118e-01 9.27566928e-02 9.53819702e-03 2.09588476e+02] [-9.27520629e-02 9.95688804e-01 -9.27576514e-04 -2.54860390e+01] [-9.58311491e-03 3.88477229e-05 9.99954080e-01 -5.08920401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.62, Y:-25.49, Z:-5.09 [[ 9.95864215e-01 9.02327921e-02 1.06069987e-02 2.09616868e+02] [-9.02269366e-02 9.95920699e-01 -1.03025721e-03 -2.54879836e+01] [-1.06566925e-02 6.89592884e-05 9.99943213e-01 -5.09055227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:-25.49, Z:-5.09 [[ 9.95951490e-01 8.92086445e-02 1.10655998e-02 2.09644211e+02] [-8.92022179e-02 9.96012957e-01 -1.07395794e-03 -2.54913705e+01] [-1.11172871e-02 8.25339656e-05 9.99938198e-01 -5.09034172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:-25.49, Z:-5.09 [[ 9.96016677e-01 8.84651842e-02 1.11664743e-02 2.09672200e+02] [-8.84586021e-02 9.96079265e-01 -1.08295533e-03 -2.54937013e+01] [-1.12184974e-02 9.08708580e-05 9.99937067e-01 -5.09090076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:-25.50, Z:-5.09 [[ 9.96006326e-01 8.86372207e-02 1.07164009e-02 2.09698624e+02] [-8.86311722e-02 9.96063972e-01 -1.03896281e-03 -2.54963709e+01] [-1.07663116e-02 8.50063592e-05 9.99942038e-01 -5.09160218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:-25.50, Z:-5.09 [[ 9.95983922e-01 8.89460396e-02 1.02288224e-02 2.09725940e+02] [-8.89405597e-02 9.96036443e-01 -9.90280044e-04 -2.54997432e+01] [-1.02763614e-02 7.65458119e-05 9.99947194e-01 -5.09252168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:-25.50, Z:-5.09 [[ 9.95859837e-01 9.03679347e-02 9.83979981e-03 2.09753479e+02] [-9.03629394e-02 9.95908446e-01 -9.51981432e-04 -2.55033795e+01] [-9.88556833e-03 5.88868401e-05 9.99951135e-01 -5.09312660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:209.78, Y:-25.51, Z:-5.09 [[ 9.95754063e-01 9.15243255e-02 9.85615412e-03 2.09780766e+02] [-9.15193789e-02 9.95802840e-01 -9.52690208e-04 -2.55052573e+01] [-9.90198059e-03 4.66160430e-05 9.99950973e-01 -5.09438420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:-25.51, Z:-5.09 [[ 9.95526283e-01 9.39609814e-02 9.93751734e-03 2.09808644e+02] [-9.39560789e-02 9.95575880e-01 -9.60080013e-04 -2.55080100e+01] [-9.98376264e-03 2.20947229e-05 9.99950161e-01 -5.09384044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:-25.51, Z:-5.09 [[ 9.95375927e-01 9.54753216e-02 1.05463878e-02 2.09835096e+02] [-9.54698895e-02 9.95431797e-01 -1.01846734e-03 -2.55095429e+01] [-1.05954482e-02 6.89539717e-06 9.99943867e-01 -5.09465214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:-25.51, Z:-5.10 [[ 9.95044951e-01 9.88149917e-02 1.10065004e-02 2.09863253e+02] [-9.88092973e-02 9.95105822e-01 -1.06129169e-03 -2.55104189e+01] [-1.10575041e-02 -3.15116247e-05 9.99938863e-01 -5.09516444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:-25.51, Z:-5.10 [[ 9.94825206e-01 1.01049957e-01 1.05695332e-02 2.09891511e+02] [-1.01044839e-01 9.94881351e-01 -1.01849635e-03 -2.55134903e+01] [-1.06183505e-02 -5.47709383e-05 9.99943622e-01 -5.09558232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:-25.52, Z:-5.10 [[ 9.94599425e-01 1.03206674e-01 1.09711474e-02 2.09918433e+02] [-1.03201299e-01 9.94659930e-01 -1.05646116e-03 -2.55164945e+01] [-1.10215945e-02 -8.14809935e-05 9.99939257e-01 -5.09628566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:-25.52, Z:-5.10 [[ 9.94090474e-01 1.07951320e-01 1.14298994e-02 2.09945909e+02] [-1.07945813e-01 9.94156171e-01 -1.09939965e-03 -2.55180792e+01] [-1.14817866e-02 -1.40907069e-04 9.99934072e-01 -5.09617019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:-25.52, Z:-5.10 [[ 9.93827543e-01 1.10356010e-01 1.13298526e-02 2.09973052e+02] [-1.10350760e-01 9.93892108e-01 -1.08945022e-03 -2.55189243e+01] [-1.13808785e-02 -1.67532204e-04 9.99935222e-01 -5.09659187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:-25.52, Z:-5.10 [[ 9.93314690e-01 1.14843373e-01 1.17015797e-02 2.10001765e+02] [-1.14838105e-01 9.93383585e-01 -1.12334662e-03 -2.55161962e+01] [-1.17531661e-02 -2.27950538e-04 9.99930903e-01 -5.09668483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:-25.52, Z:-5.10 [[ 9.93108319e-01 1.16593933e-01 1.19047020e-02 2.10028807e+02] [-1.16588616e-01 9.93179636e-01 -1.14208346e-03 -2.55161135e+01] [-1.19566676e-02 -2.53740146e-04 9.99928484e-01 -5.09772857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:-25.52, Z:-5.10 [[ 9.92952260e-01 1.17997348e-01 1.10650639e-02 2.10055984e+02] [-1.17992850e-01 9.93013878e-01 -1.06073319e-03 -2.55165934e+01] [-1.11129257e-02 -2.52341007e-04 9.99938218e-01 -5.09859988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:-25.52, Z:-5.10 [[ 9.92821592e-01 1.19214535e-01 9.65304673e-03 2.10084097e+02] [-1.19211176e-01 9.92868491e-01 -9.24674076e-04 -2.55159135e+01] [-9.69444053e-03 -2.32714664e-04 9.99952981e-01 -5.10089678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:-25.52, Z:-5.10 [[ 9.92854085e-01 1.18945843e-01 9.62563275e-03 2.10112084e+02] [-1.18942497e-01 9.92900717e-01 -9.21368066e-04 -2.55163676e+01] [-9.66689056e-03 -2.30112743e-04 9.99953248e-01 -5.10191952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:-25.51, Z:-5.10 [[ 9.93125464e-01 1.16522613e-01 1.11486878e-02 2.10139991e+02] [-1.16517984e-01 9.93188010e-01 -1.06608158e-03 -2.55145458e+01] [-1.11969657e-02 -2.40269862e-04 9.99937283e-01 -5.10274776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:-25.52, Z:-5.10 [[ 9.93408468e-01 1.14020484e-01 1.17875028e-02 2.10167041e+02] [-1.14015137e-01 9.93478374e-01 -1.12679474e-03 -2.55152698e+01] [-1.18391068e-02 -2.24586308e-04 9.99929890e-01 -5.10323938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.19, Y:-25.52, Z:-5.10 [[ 9.93733971e-01 1.11104640e-01 1.21882570e-02 2.10194696e+02] [-1.11098732e-01 9.93808694e-01 -1.16286744e-03 -2.55154538e+01] [-1.22419957e-02 -1.98519018e-04 9.99925044e-01 -5.10374759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.22, Y:-25.51, Z:-5.10 [[ 9.94669699e-01 1.02229934e-01 1.34622008e-02 2.10222247e+02] [-1.02221926e-01 9.94760791e-01 -1.28340808e-03 -2.55143764e+01] [-1.35228722e-02 -9.95649673e-05 9.99908557e-01 -5.10435050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:-25.52, Z:-5.11 [[ 9.95611303e-01 9.25041544e-02 1.41815292e-02 2.10250497e+02] [-9.24942992e-02 9.95712298e-01 -1.35066080e-03 -2.55173111e+01] [-1.42456647e-02 3.30225532e-05 9.99898525e-01 -5.10576879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:-25.52, Z:-5.11 [[ 9.96004674e-01 8.82087045e-02 1.39252619e-02 2.10278682e+02] [-8.81987959e-02 9.96102011e-01 -1.32529047e-03 -2.55215248e+01] [-1.39878835e-02 9.18041659e-05 9.99902161e-01 -5.10676101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:-25.52, Z:-5.11 [[ 9.96342261e-01 8.44193753e-02 1.32464060e-02 2.10306000e+02] [-8.44100857e-02 9.96430304e-01 -1.25982169e-03 -2.55249477e+01] [-1.33054737e-02 1.37083322e-04 9.99911469e-01 -5.10753665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:-25.53, Z:-5.11 [[ 9.96646021e-01 8.08481545e-02 1.26603679e-02 2.10333994e+02] [-8.08393928e-02 9.96726414e-01 -1.20312076e-03 -2.55275718e+01] [-1.27161932e-02 1.75629066e-04 9.99919131e-01 -5.10797398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:-25.53, Z:-5.11 [[ 9.97084914e-01 7.54046070e-02 1.16541359e-02 2.10362086e+02] [-7.53968193e-02 9.97152995e-01 -1.10677419e-03 -2.55312642e+01] [-1.17044124e-02 2.24863069e-04 9.99931476e-01 -5.10895064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:-25.54, Z:-5.11 [[ 9.97373307e-01 7.16523172e-02 1.06033872e-02 2.10390439e+02] [-7.16456629e-02 9.97429640e-01 -1.00658183e-03 -2.55370920e+01] [-1.06482566e-02 2.44251145e-04 9.99943276e-01 -5.10996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:-25.54, Z:-5.11 [[ 9.97437128e-01 7.07847554e-02 1.04256296e-02 2.10419248e+02] [-7.07782799e-02 9.97491582e-01 -9.89242615e-04 -2.55412178e+01] [-1.04695011e-02 2.48799182e-04 9.99945162e-01 -5.11083304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:-25.55, Z:-5.11 [[ 9.97467712e-01 7.03597085e-02 1.03766292e-02 2.10447172e+02] [-7.03532743e-02 9.97521653e-01 -9.84246098e-04 -2.55452887e+01] [-1.04201635e-02 2.51723867e-04 9.99945677e-01 -5.11140738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.48, Y:-25.55, Z:-5.11 [[ 9.97445768e-01 7.07076028e-02 1.01180424e-02 2.10476126e+02] [-7.07015105e-02 9.97497056e-01 -9.59002421e-04 -2.55496536e+01] [-1.01605263e-02 2.41192026e-04 9.99948351e-01 -5.11208481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:-25.56, Z:-5.11 [[ 9.97391279e-01 7.16000809e-02 9.16874241e-03 2.10504068e+02] [-7.15951189e-02 9.97433398e-01 -8.68686791e-04 -2.55572506e+01] [-9.20740794e-03 2.09983426e-04 9.99957589e-01 -5.11297681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:-25.56, Z:-5.11 [[ 9.97177736e-01 7.46019578e-02 8.43266046e-03 2.10532272e+02] [-7.45978705e-02 9.97213377e-01 -7.98641979e-04 -2.55638647e+01] [-8.46874207e-03 1.67329489e-04 9.99964126e-01 -5.11290707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41420382200002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.56, Y:-25.57, Z:-5.11 [[ 9.97002734e-01 7.68845841e-02 8.62024816e-03 2.10560140e+02] [-7.68803997e-02 9.97039988e-01 -8.16230228e-04 -2.55682462e+01] [-8.65748764e-03 1.51055645e-04 9.99962512e-01 -5.11356879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:-25.57, Z:-5.11 [[ 9.96889175e-01 7.82593619e-02 9.35125265e-03 2.10588270e+02] [-7.82545077e-02 9.96933022e-01 -8.84435386e-04 -2.55726622e+01] [-9.39178791e-03 1.49906390e-04 9.99955885e-01 -5.11386646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.62, Y:-25.58, Z:-5.11 [[ 9.96583650e-01 8.19291617e-02 1.04230853e-02 2.10615851e+02] [-8.19233363e-02 9.96638147e-01 -9.85347490e-04 -2.55789085e+01] [-1.04687731e-02 1.28087277e-04 9.99945193e-01 -5.11398158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:-25.58, Z:-5.11 [[ 9.96505125e-01 8.28704964e-02 1.04889006e-02 2.10644042e+02] [-8.28646574e-02 9.96560318e-01 -9.90807711e-04 -2.55837244e+01] [-1.05349309e-02 1.18185806e-04 9.99944499e-01 -5.11428640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:-25.59, Z:-5.12 [[ 9.96267060e-01 8.57297879e-02 1.01167997e-02 2.10671757e+02] [-8.57245077e-02 9.96318421e-01 -9.55217150e-04 -2.55913894e+01] [-1.01614444e-02 8.43937100e-05 9.99948368e-01 -5.11503400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:-25.60, Z:-5.12 [[ 9.96123328e-01 8.73892228e-02 1.00717395e-02 2.10699448e+02] [-8.73840777e-02 9.96174241e-01 -9.50632831e-04 -2.55981727e+01] [-1.01162825e-02 6.68378742e-05 9.99948827e-01 -5.11651199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:-25.60, Z:-5.12 [[ 9.96011334e-01 8.86965701e-02 9.71297296e-03 2.10727164e+02] [-8.86918524e-02 9.96058691e-01 -9.16228872e-04 -2.56044809e+01] [-9.75595749e-03 5.11127764e-05 9.99952408e-01 -5.11728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:-25.61, Z:-5.12 [[ 9.95783784e-01 9.12343595e-02 9.53659199e-03 2.10754171e+02] [-9.12299316e-02 9.95829449e-01 -8.99203337e-04 -2.56128991e+01] [-9.57885739e-03 2.53894662e-05 9.99954121e-01 -5.11773330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:-25.62, Z:-5.12 [[ 9.95666963e-01 9.24809838e-02 9.72448425e-03 2.10781402e+02] [-9.24764478e-02 9.95714451e-01 -9.16040847e-04 -2.56181827e+01] [-9.76752586e-03 1.27858477e-05 9.99952296e-01 -5.11819414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:-25.63, Z:-5.12 [[ 9.95448003e-01 9.47107264e-02 1.06372327e-02 2.10808135e+02] [-9.47054323e-02 9.95504836e-01 -1.00144524e-03 -2.56277741e+01] [-1.06842642e-02 -1.05170526e-05 9.99942922e-01 -5.11868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:-25.63, Z:-5.12 [[ 9.95326863e-01 9.59743124e-02 1.06474013e-02 2.10836754e+02] [-9.59690920e-02 9.95383811e-01 -1.00133270e-03 -2.56336241e+01] [-1.06943531e-02 -2.51680945e-05 9.99942813e-01 -5.11908671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.86, Y:-25.64, Z:-5.12 [[ 9.95069014e-01 9.85615848e-02 1.11027422e-02 2.10863869e+02] [-9.85560744e-02 9.95130952e-01 -1.04369463e-03 -2.56410470e+01] [-1.11515506e-02 -5.56945018e-05 9.99937818e-01 -5.11968985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:-25.65, Z:-5.12 [[ 9.95018716e-01 9.90519561e-02 1.12456647e-02 2.10891458e+02] [-9.90463412e-02 9.95082261e-01 -1.05651369e-03 -2.56470818e+01] [-1.12950112e-02 -6.25910444e-05 9.99936207e-01 -5.12007466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:-25.65, Z:-5.12 [[ 9.94967454e-01 9.95481843e-02 1.13984718e-02 2.10920017e+02] [-9.95424604e-02 9.95032740e-01 -1.06981120e-03 -2.56533674e+01] [-1.14483504e-02 -7.02046015e-05 9.99934463e-01 -5.12032090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:-25.66, Z:-5.12 [[ 9.94914049e-01 1.00150036e-01 1.07706086e-02 2.10948699e+02] [-1.00144965e-01 9.94972344e-01 -1.01042709e-03 -2.56614295e+01] [-1.08176520e-02 -7.33341134e-05 9.99941485e-01 -5.12079719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:-25.67, Z:-5.12 [[ 9.94927730e-01 1.00035673e-01 1.05676905e-02 2.10975620e+02] [-1.00030789e-01 9.94983849e-01 -9.91030114e-04 -2.56670012e+01] [-1.06138197e-02 -7.10910741e-05 9.99943669e-01 -5.12183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:-25.68, Z:-5.12 [[ 9.95020723e-01 9.91532755e-02 1.01187012e-02 2.11003458e+02] [-9.91487597e-02 9.95072170e-01 -9.48186122e-04 -2.56768755e+01] [-1.01628537e-02 -5.97918349e-05 9.99948355e-01 -5.12321957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:-25.68, Z:-5.12 [[ 9.95028741e-01 9.90727856e-02 1.01187081e-02 2.11032651e+02] [-9.90682664e-02 9.95080188e-01 -9.48113033e-04 -2.56795042e+01] [-1.01628582e-02 -5.90431528e-05 9.99948355e-01 -5.12388837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:-25.69, Z:-5.12 [[ 9.95097270e-01 9.83670496e-02 1.02638710e-02 2.11060266e+02] [-9.83623728e-02 9.95150200e-01 -9.60689858e-04 -2.56854150e+01] [-1.03085935e-02 -5.35988477e-05 9.99946864e-01 -5.12431931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:-25.69, Z:-5.12 [[ 9.95218521e-01 9.70872157e-02 1.06849676e-02 2.11087261e+02] [-9.70820833e-02 9.95275877e-01 -9.99196436e-04 -2.56936841e+01] [-1.07314997e-02 -4.29001161e-05 9.99942415e-01 -5.12421522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:-25.70, Z:-5.12 [[ 9.95239573e-01 9.68340200e-02 1.10166134e-02 2.11115085e+02] [-9.68285563e-02 9.95300543e-01 -1.02950563e-03 -2.56987447e+01] [-1.10645325e-02 -4.21180295e-05 9.99938785e-01 -5.12442588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:-25.71, Z:-5.12 [[ 9.95152103e-01 9.77225638e-02 1.10721348e-02 2.11142163e+02] [-9.77171064e-02 9.95213695e-01 -1.03410658e-03 -2.57062257e+01] [-1.11201958e-02 -5.28436402e-05 9.99938167e-01 -5.12456758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:-25.71, Z:-5.13 [[ 9.95065501e-01 9.86143759e-02 1.09477758e-02 2.11170984e+02] [-9.86091044e-02 9.95125721e-01 -1.02157967e-03 -2.57112589e+01] [-1.09951558e-02 -6.30116850e-05 9.99939549e-01 -5.12526654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.20, Y:-25.72, Z:-5.13 [[ 9.94983056e-01 9.94388414e-02 1.09834020e-02 2.11199435e+02] [-9.94335914e-02 9.95043673e-01 -1.02439832e-03 -2.57152717e+01] [-1.10308297e-02 -7.28601324e-05 9.99939156e-01 -5.12560595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:-25.72, Z:-5.13 [[ 9.94847035e-01 1.00707620e-01 1.17197028e-02 2.11226492e+02] [-1.00701737e-01 9.94916060e-01 -1.09255433e-03 -2.57214712e+01] [-1.17701491e-02 -9.32699901e-05 9.99930725e-01 -5.12611721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:-25.73, Z:-5.13 [[ 9.94767701e-01 1.01403546e-01 1.24314653e-02 2.11255427e+02] [-1.01396993e-01 9.94845369e-01 -1.15793058e-03 -2.57263909e+01] [-1.24848039e-02 -1.08641251e-04 9.99922056e-01 -5.12656854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:-25.73, Z:-5.13 [[ 9.94616652e-01 1.02918938e-01 1.20585057e-02 2.11283652e+02] [-1.02912890e-01 9.94689739e-01 -1.12265538e-03 -2.57316844e+01] [-1.21100144e-02 -1.24363944e-04 9.99926663e-01 -5.12640043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:-25.74, Z:-5.13 [[ 9.94522272e-01 1.03909742e-01 1.13232314e-02 2.11312167e+02] [-1.03904479e-01 9.94586723e-01 -1.05374410e-03 -2.57351449e+01] [-1.13714299e-02 -1.28562480e-04 9.99935335e-01 -5.12725103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:-25.74, Z:-5.13 [[ 9.94396538e-01 1.05182733e-01 1.05886113e-02 2.11340248e+02] [-1.05178206e-01 9.94452902e-01 -9.85088206e-04 -2.57387846e+01] [-1.06334895e-02 -1.34122838e-04 9.99943454e-01 -5.12792064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:-25.74, Z:-5.13 [[ 9.94051142e-01 1.08444193e-01 1.01086110e-02 2.11368379e+02] [-1.08440242e-01 9.94102525e-01 -9.39733765e-04 -2.57424647e+01] [-1.01509044e-02 -1.62036797e-04 9.99948465e-01 -5.12830986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:-25.74, Z:-5.13 [[ 9.93836786e-01 1.10404275e-01 9.96691099e-03 2.11397545e+02] [-1.10400537e-01 9.93886746e-01 -9.26112262e-04 -2.57447516e+01] [-1.00082275e-02 -1.79947892e-04 9.99949900e-01 -5.12862843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:-25.75, Z:-5.13 [[ 9.93419676e-01 1.14154410e-01 9.28000727e-03 2.11426310e+02] [-1.14151337e-01 9.93462998e-01 -8.61935317e-04 -2.57459206e+01] [-9.31773756e-03 -2.03061732e-04 9.99956568e-01 -5.12884812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:-25.75, Z:-5.13 [[ 9.93271901e-01 1.15446895e-01 9.10742039e-03 2.11454405e+02] [-1.15443992e-01 9.93313631e-01 -8.45647031e-04 -2.57475407e+01] [-9.14415214e-03 -2.11439530e-04 9.99958169e-01 -5.12958407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:-25.75, Z:-5.13 [[ 9.93195178e-01 1.16116401e-01 8.96215467e-03 2.11483184e+02] [-1.16113623e-01 9.93235589e-01 -8.31460175e-04 -2.57492604e+01] [-8.99807714e-03 -2.14826016e-04 9.99959493e-01 -5.13009142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:-25.75, Z:-5.13 [[ 9.93244906e-01 1.15731058e-01 8.41892023e-03 2.11511508e+02] [-1.15728595e-01 9.93280566e-01 -7.80739990e-04 -2.57513909e+01] [-8.45270571e-03 -1.98843790e-04 9.99964255e-01 -5.13113300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:-25.75, Z:-5.13 [[ 9.93401215e-01 1.14396903e-01 8.20822678e-03 2.11540464e+02] [-1.14394520e-01 9.93435109e-01 -7.60827205e-04 -2.57546323e+01] [-8.24137694e-03 -1.83169493e-04 9.99966023e-01 -5.13173785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:-25.76, Z:-5.13 [[ 9.93657478e-01 1.12126749e-01 8.50935496e-03 2.11568000e+02] [-1.12124107e-01 9.93693898e-01 -7.88454852e-04 -2.57566566e+01] [-8.54410098e-03 -1.70649767e-04 9.99963484e-01 -5.13203464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:-25.76, Z:-5.13 [[ 9.93729107e-01 1.11452675e-01 8.98688217e-03 2.11596065e+02] [-1.11449706e-01 9.93769727e-01 -8.32053875e-04 -2.57575889e+01] [-9.02362608e-03 -1.74749226e-04 9.99959271e-01 -5.13220079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:211.63, Y:-25.76, Z:-5.13 [[ 9.93720683e-01 1.11454587e-01 9.85288464e-03 2.11625199e+02] [-1.11451027e-01 9.93769509e-01 -9.11372172e-04 -2.57574699e+01] [-9.89307294e-03 -1.92464738e-04 9.99951044e-01 -5.13232822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:-25.76, Z:-5.13 [[ 9.93747073e-01 1.11249419e-01 9.50375698e-03 2.11653597e+02] [-1.11246102e-01 9.93792500e-01 -8.78667178e-04 -2.57585780e+01] [-9.54251362e-03 -1.84082978e-04 9.99954452e-01 -5.13235690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:-25.76, Z:-5.13 [[ 9.93722952e-01 1.11526007e-01 8.75464863e-03 2.11681911e+02] [-1.11523204e-01 9.93761501e-01 -8.09237158e-04 -2.57598609e+01] [-8.79028375e-03 -1.72188931e-04 9.99961350e-01 -5.13288402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:-25.76, Z:-5.13 [[ 9.93723891e-01 1.11549421e-01 8.33997666e-03 2.11710505e+02] [-1.11546883e-01 9.93758874e-01 -7.70306651e-04 -2.57590596e+01] [-8.37385308e-03 -1.64826282e-04 9.99964925e-01 -5.13403110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:-25.76, Z:-5.13 [[ 9.93784030e-01 1.11046900e-01 7.86687320e-03 2.11739534e+02] [-1.11044629e-01 9.93815155e-01 -7.26306366e-04 -2.57601708e+01] [-7.89887188e-03 -1.51782347e-04 9.99968792e-01 -5.13480134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:-25.76, Z:-5.14 [[ 9.93967667e-01 1.09493690e-01 6.27759162e-03 2.11767799e+02] [-1.09492212e-01 9.93987485e-01 -5.79692704e-04 -2.57599142e+01] [-6.30332019e-03 -1.11151588e-04 9.99980128e-01 -5.13561429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:-25.76, Z:-5.14 [[ 9.94092658e-01 1.08350308e-01 6.32436569e-03 2.11795516e+02] [-1.08348788e-01 9.94112770e-01 -5.83588382e-04 -2.57600612e+01] [-6.35036467e-03 -1.05096429e-04 9.99979831e-01 -5.13646263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:-25.76, Z:-5.14 [[ 9.94250133e-01 1.06887238e-01 6.46464695e-03 2.11824101e+02] [-1.06885622e-01 9.94271144e-01 -5.95859405e-04 -2.57601738e+01] [-6.49130169e-03 -9.85445190e-05 9.99978926e-01 -5.13711114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:-25.76, Z:-5.14 [[ 9.94646317e-01 1.03164313e-01 5.98569011e-03 2.11852377e+02] [-1.03162859e-01 9.94664325e-01 -5.51972444e-04 -2.57595821e+01] [-6.01069627e-03 -6.84835441e-05 9.99981933e-01 -5.13784642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:-25.76, Z:-5.14 [[ 9.94902195e-01 1.00648098e-01 6.29151795e-03 2.11879689e+02] [-1.00646442e-01 9.94922086e-01 -5.80148567e-04 -2.57615926e+01] [-6.31796101e-03 -5.60278139e-05 9.99980040e-01 -5.13856533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:-25.76, Z:-5.14 [[ 9.95435917e-01 9.51262378e-02 7.63768759e-03 2.11908464e+02] [-9.51236510e-02 9.95465217e-01 -7.02063281e-04 -2.57636323e+01] [-7.66983697e-03 -2.76657232e-05 9.99970586e-01 -5.13823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:-25.77, Z:-5.14 [[ 9.95660077e-01 9.27104488e-02 8.11074227e-03 2.11937649e+02] [-9.27074551e-02 9.95693112e-01 -7.45108660e-04 -2.57658144e+01] [-8.14488957e-03 -1.00513285e-05 9.99966830e-01 -5.13865084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:-25.77, Z:-5.14 [[ 9.96085135e-01 8.79666468e-02 8.73346551e-03 2.11965480e+02] [-8.79629955e-02 9.96123420e-01 -8.02074889e-04 -2.57683517e+01] [-8.77016537e-03 3.07130863e-05 9.99961541e-01 -5.13913697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:-25.77, Z:-5.14 [[ 9.96271372e-01 8.57742196e-02 9.28100620e-03 2.11994327e+02] [-8.57700105e-02 9.96314599e-01 -8.51334689e-04 -2.57712038e+01] [-9.31982454e-03 5.21283796e-05 9.99956568e-01 -5.13960125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:-25.77, Z:-5.14 [[ 9.96487272e-01 8.31703595e-02 9.78816010e-03 2.12021772e+02] [-8.31655559e-02 9.96535341e-01 -8.97478891e-04 -2.57737348e+01] [-9.82889110e-03 8.02885158e-05 9.99951692e-01 -5.13943039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:-25.78, Z:-5.14 [[ 9.96539481e-01 8.25450728e-02 9.76597745e-03 2.12050489e+02] [-8.25402680e-02 9.96587329e-01 -8.94711453e-04 -2.57761082e+01] [-9.80650341e-03 8.55288902e-05 9.99951911e-01 -5.13957465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:-25.78, Z:-5.14 [[ 9.96551899e-01 8.24145500e-02 9.59976556e-03 2.12079627e+02] [-8.24099056e-02 9.96598131e-01 -8.79040592e-04 -2.57789167e+01] [-9.63955415e-03 8.48937976e-05 9.99953535e-01 -5.13986102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:-25.78, Z:-5.14 [[ 9.96505333e-01 8.30736820e-02 8.71115237e-03 2.12107266e+02] [-8.30698843e-02 9.96543405e-01 -7.97510874e-04 -2.57831212e+01] [-8.74729361e-03 7.10894200e-05 9.99961739e-01 -5.14083319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:-25.79, Z:-5.14 [[ 9.96420430e-01 8.41414453e-02 8.15742842e-03 2.12135626e+02] [-8.41381555e-02 9.96453819e-01 -7.46242603e-04 -2.57865609e+01] [-8.19129064e-03 5.72203946e-05 9.99966449e-01 -5.14177633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:-25.79, Z:-5.14 [[ 9.96116345e-01 8.77767485e-02 6.88982371e-03 2.12163806e+02] [-8.77744885e-02 9.96140172e-01 -6.30308501e-04 -2.57877831e+01] [-6.91855660e-03 2.31098489e-05 9.99976066e-01 -5.14205944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:-25.79, Z:-5.14 [[ 9.95915120e-01 9.00328327e-02 6.86757028e-03 2.12192502e+02] [-9.00306451e-02 9.95938798e-01 -6.27653279e-04 -2.57897059e+01] [-6.89618909e-03 6.79760738e-06 9.99976221e-01 -5.14298626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:-25.79, Z:-5.14 [[ 9.95433539e-01 9.51851169e-02 7.20156671e-03 2.12220799e+02] [-9.51828488e-02 9.95459589e-01 -6.57800806e-04 -2.57927120e+01] [-7.23148148e-03 -3.06686516e-05 9.99973852e-01 -5.14359341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:212.25, Y:-25.79, Z:-5.14 [[ 9.95177672e-01 9.78490843e-02 6.85264650e-03 2.12248915e+02] [-9.78470945e-02 9.95201263e-01 -6.25842835e-04 -2.57948391e+01] [-6.88100060e-03 -4.76867347e-05 9.99976324e-01 -5.14471112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:-25.79, Z:-5.15 [[ 9.94870676e-01 1.00975424e-01 6.02504137e-03 2.12276714e+02] [-1.00973944e-01 9.94888918e-01 -5.50040810e-04 -2.57945892e+01] [-6.04978750e-03 -6.11527178e-05 9.99981698e-01 -5.14518754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:-25.80, Z:-5.15 [[ 9.94748401e-01 1.02152432e-01 6.36396448e-03 2.12304047e+02] [-1.02150804e-01 9.94768755e-01 -5.81227742e-04 -2.57957353e+01] [-6.39004685e-03 -7.19087186e-05 9.99979581e-01 -5.14584202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:-25.80, Z:-5.15 [[ 9.94692087e-01 1.02663331e-01 6.92049016e-03 2.12331889e+02] [-1.02661428e-01 9.94716157e-01 -6.30649579e-04 -2.57977118e+01] [-6.94866797e-03 -8.31652550e-05 9.99975854e-01 -5.14684727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:-25.80, Z:-5.15 [[ 9.94764683e-01 1.01942501e-01 7.13804769e-03 2.12359777e+02] [-1.01940463e-01 9.94790289e-01 -6.49726006e-04 -2.58002184e+01] [-7.16709522e-03 -8.13314020e-05 9.99974313e-01 -5.14764521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:-25.80, Z:-5.15 [[ 9.94881798e-01 1.00788244e-01 7.20684474e-03 2.12387374e+02] [-1.00786138e-01 9.94907897e-01 -6.55727025e-04 -2.58027514e+01] [-7.23623633e-03 -7.39791696e-05 9.99973815e-01 -5.14782585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:-25.81, Z:-5.15 [[ 9.95223051e-01 9.73607324e-02 7.20880772e-03 2.12416533e+02] [-9.73585416e-02 9.95249157e-01 -6.55034485e-04 -2.58054419e+01] [-7.23833445e-03 -4.99335885e-05 9.99973802e-01 -5.14876285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:-25.81, Z:-5.15 [[ 9.95432426e-01 9.52189794e-02 6.90156399e-03 2.12444990e+02] [-9.52169219e-02 9.95456350e-01 -6.26844445e-04 -2.58080854e+01] [-6.92989318e-03 -3.31643924e-05 9.99975987e-01 -5.14978264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:-25.81, Z:-5.15 [[ 9.95885828e-01 9.04194314e-02 5.97858487e-03 2.12473416e+02] [-9.04178016e-02 9.95903774e-01 -5.42876751e-04 -2.58119568e+01] [-6.00318184e-03 7.27622857e-08 9.99981981e-01 -5.15115884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.50, Y:-25.82, Z:-5.15 [[ 9.96109092e-01 8.79171311e-02 6.10359917e-03 2.12501284e+02] [-8.79153863e-02 9.96127792e-01 -5.54105108e-04 -2.58159064e+01] [-6.12868010e-03 1.53488571e-05 9.99981219e-01 -5.15202133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.53, Y:-25.82, Z:-5.15 [[ 9.96310093e-01 8.55891009e-02 6.38005367e-03 2.12529551e+02] [-8.55871509e-02 9.96330520e-01 -5.78551566e-04 -2.58204067e+01] [-6.40615990e-03 3.03661475e-05 9.99979480e-01 -5.15313106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:-25.83, Z:-5.15 [[ 9.96693708e-01 8.08878684e-02 7.66843376e-03 2.12557738e+02] [-8.08849163e-02 9.96723205e-01 -6.94837397e-04 -2.58274519e+01] [-7.69950979e-03 7.22794388e-05 9.99970356e-01 -5.15268722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57420382200002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:212.59, Y:-25.83, Z:-5.15 [[ 9.96805759e-01 7.94434556e-02 8.18640221e-03 2.12586582e+02] [-7.94400464e-02 9.96839370e-01 -7.41291314e-04 -2.58311873e+01] [-8.21941877e-03 8.85952788e-05 9.99966216e-01 -5.15359074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.62, Y:-25.84, Z:-5.15 [[ 9.96966114e-01 7.74766199e-02 7.47935014e-03 2.12615546e+02] [-7.74737237e-02 9.96994165e-01 -6.76623204e-04 -2.58350505e+01] [-7.50929092e-03 9.51173007e-05 9.99971800e-01 -5.15364392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.64, Y:-25.84, Z:-5.15 [[ 9.97007071e-01 7.69876442e-02 7.05709721e-03 2.12644392e+02] [-7.69850518e-02 9.97032043e-01 -6.38661476e-04 -2.58398544e+01] [-7.08532109e-03 9.34590130e-05 9.99974894e-01 -5.15448258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:-25.85, Z:-5.16 [[ 9.96991832e-01 7.71889901e-02 7.01054324e-03 2.12671948e+02] [-7.71864405e-02 9.97016475e-01 -6.33922858e-04 -2.58488833e+01] [-7.03855897e-03 9.08970322e-05 9.99975225e-01 -5.15578833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.70, Y:-25.85, Z:-5.16 [[ 9.96938367e-01 7.78512358e-02 7.28546597e-03 2.12700401e+02] [-7.78496432e-02 9.96964985e-01 -5.02365123e-04 -2.58544108e+01] [-7.30246421e-03 -6.63438613e-05 9.99973334e-01 -5.15555984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:-25.86, Z:-5.16 [[ 9.96792650e-01 7.96449175e-02 7.81660035e-03 2.12729153e+02] [-7.96405851e-02 9.96823269e-01 -8.64453824e-04 -2.58590886e+01] [-7.86061847e-03 2.39162593e-04 9.99969076e-01 -5.15585852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:-25.86, Z:-5.16 [[ 9.96369943e-01 8.47421156e-02 8.10625927e-03 2.12757543e+02] [-8.47389649e-02 9.96402917e-01 -7.31969014e-04 -2.58634604e+01] [-8.13912899e-03 4.23959039e-05 9.99966876e-01 -5.15586621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.79, Y:-25.87, Z:-5.16 [[ 9.96094308e-01 8.79471215e-02 7.83796835e-03 2.12786601e+02] [-8.79442756e-02 9.96125145e-01 -7.07675967e-04 -2.58665277e+01] [-7.86983542e-03 1.56075542e-05 9.99969032e-01 -5.15646695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.82, Y:-25.87, Z:-5.16 [[ 9.95548201e-01 9.40353711e-02 6.41315832e-03 2.12815097e+02] [-9.40322990e-02 9.95568842e-01 -7.79555622e-04 -2.58703407e+01] [-6.45804640e-03 1.73041177e-04 9.99979132e-01 -5.15845172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:-25.87, Z:-5.16 [[ 9.95553170e-01 9.39817197e-02 6.42815382e-03 2.12844300e+02] [-9.39798801e-02 9.95573923e-01 -5.88315423e-04 -2.58729780e+01] [-6.45499321e-03 -1.84178413e-05 9.99979166e-01 -5.15912864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:-25.88, Z:-5.16 [[ 9.95265700e-01 9.70207808e-02 5.75804441e-03 2.12871075e+02] [-9.70205114e-02 9.95282329e-01 -3.26760644e-04 -2.58764856e+01] [-5.76258242e-03 -2.33434752e-04 9.99983369e-01 -5.16063555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.90, Y:-25.88, Z:-5.16 [[ 9.94876557e-01 1.01017079e-01 4.02308532e-03 2.12898778e+02] [-1.01016436e-01 9.94884691e-01 -3.63229421e-04 -2.58819274e+01] [-4.03919837e-03 -4.50293029e-05 9.99991841e-01 -5.16198235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.93, Y:-25.89, Z:-5.16 [[ 9.94725971e-01 1.02510842e-01 3.43068085e-03 2.12927848e+02] [-1.02510384e-01 9.94731886e-01 -3.09506093e-04 -2.58855631e+01] [-3.44433536e-03 -4.38066619e-05 9.99994067e-01 -5.16293513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.96, Y:-25.89, Z:-5.16 [[ 9.94591002e-01 1.03814045e-01 3.37394425e-03 2.12955238e+02] [-1.03813609e-01 9.94596723e-01 -3.04469276e-04 -2.58879205e+01] [-3.38732209e-03 -4.74389279e-05 9.99994262e-01 -5.16311249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.98, Y:-25.89, Z:-5.16 [[ 9.94319973e-01 1.06313544e-01 5.02219317e-03 2.12983022e+02] [-1.06312614e-01 9.94332652e-01 -4.52539690e-04 -2.58888767e+01] [-5.04184175e-03 -8.39532325e-05 9.99987286e-01 -5.16337067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.01, Y:-25.89, Z:-5.16 [[ 9.94128741e-01 1.08055048e-01 5.67033812e-03 2.13010533e+02] [-1.08053896e-01 9.94144907e-01 -5.10087139e-04 -2.58910755e+01] [-5.69225525e-03 -1.05609841e-04 9.99983793e-01 -5.16450452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.04, Y:-25.89, Z:-5.17 [[ 9.94107491e-01 1.08259348e-01 5.49627748e-03 2.13038981e+02] [-1.08258271e-01 9.94122680e-01 -4.93919162e-04 -2.58939402e+01] [-5.51744547e-03 -1.04008758e-04 9.99984773e-01 -5.16544885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.07, Y:-25.90, Z:-5.17 [[ 9.94255511e-01 1.06848685e-01 6.27195423e-03 2.13066419e+02] [-1.06847257e-01 9.94275287e-01 -5.63385658e-04 -2.58961084e+01] [-6.29624611e-03 -1.09991808e-04 9.99980172e-01 -5.16631027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:-25.90, Z:-5.17 [[ 9.94430942e-01 1.05195639e-01 6.40144840e-03 2.13095611e+02] [-1.05194121e-01 9.94451541e-01 -5.74314354e-04 -2.58979647e+01] [-6.42634559e-03 -1.02278775e-04 9.99979346e-01 -5.16705535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.12, Y:-25.90, Z:-5.17 [[ 9.94909463e-01 1.00513215e-01 7.22873419e-03 2.13123899e+02] [-1.00511158e-01 9.94935720e-01 -6.48106062e-04 -2.59004301e+01] [-7.25726908e-03 -8.17615935e-05 9.99973662e-01 -5.16738260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.15, Y:-25.90, Z:-5.17 [[ 9.95174438e-01 9.78208374e-02 7.67599569e-03 2.13151717e+02] [-9.78184407e-02 9.95204039e-01 -6.87940834e-04 -2.59032212e+01] [-7.70647687e-03 -6.62327964e-05 9.99970302e-01 -5.16822927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.18, Y:-25.91, Z:-5.17 [[ 9.95449710e-01 9.49950545e-02 7.47096994e-03 2.13179968e+02] [-9.49927090e-02 9.95477743e-01 -6.68966267e-04 -2.59058667e+01] [-7.50073278e-03 -4.37653972e-05 9.99971868e-01 -5.16906690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:-25.91, Z:-5.17 [[ 9.96007377e-01 8.90184138e-02 6.71020779e-03 2.13209029e+02] [-8.90163874e-02 9.96029980e-01 -6.00631721e-04 -2.59098022e+01] [-6.73703542e-03 9.15169009e-07 9.99977306e-01 -5.17035309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:-25.91, Z:-5.17 [[ 9.96263603e-01 8.61142484e-02 6.57033286e-03 2.13236482e+02] [-8.61122432e-02 9.96285268e-01 -5.88004992e-04 -2.59130846e+01] [-6.59656145e-03 2.00218706e-05 9.99978242e-01 -5.17131455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:-25.92, Z:-5.17 [[ 9.96671167e-01 8.12948003e-02 6.14325777e-03 2.13266073e+02] [-8.12929609e-02 9.96690099e-01 -5.48935910e-04 -2.59190284e+01] [-6.16754983e-03 4.77049799e-05 9.99980979e-01 -5.17249042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.29, Y:-25.92, Z:-5.17 [[ 9.96829341e-01 7.93421767e-02 6.00699182e-03 2.13293907e+02] [-7.93403822e-02 9.96847438e-01 -5.36824476e-04 -2.59238409e+01] [-6.03064723e-03 5.85253613e-05 9.99981814e-01 -5.17349087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:-25.93, Z:-5.17 [[ 9.96925512e-01 7.81332517e-02 5.89221912e-03 2.13323229e+02] [-7.81315065e-02 9.96942923e-01 -5.26145596e-04 -2.59291345e+01] [-5.91531561e-03 6.41600115e-05 9.99982502e-01 -5.17418711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.35, Y:-25.93, Z:-5.17 [[ 9.96963695e-01 7.76226905e-02 6.17328449e-03 2.13352669e+02] [-7.76207659e-02 9.96982805e-01 -5.51098422e-04 -2.59342973e+01] [-6.19743623e-03 7.02500487e-05 9.99980793e-01 -5.17416696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:-25.94, Z:-5.17 [[ 9.96905584e-01 7.83318392e-02 6.58631714e-03 2.13381022e+02] [-7.83296640e-02 9.96927338e-01 -5.87966860e-04 -2.59375215e+01] [-6.61213614e-03 7.02434378e-05 9.99978137e-01 -5.17409663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:-25.94, Z:-5.17 [[ 9.96553426e-01 8.26074313e-02 7.56847372e-03 2.13410001e+02] [-8.26046868e-02 9.96582164e-01 -6.75054702e-04 -2.59418477e+01] [-7.59837045e-03 4.75366755e-05 9.99971131e-01 -5.17391577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:-25.95, Z:-5.17 [[ 9.96267060e-01 8.59632802e-02 7.89050382e-03 2.13438620e+02] [-8.59604040e-02 9.96298306e-01 -7.03563303e-04 -2.59454610e+01] [-7.92177619e-03 2.26660479e-05 9.99968622e-01 -5.17433217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:-25.95, Z:-5.17 [[ 9.95500301e-01 9.44603683e-02 7.50929181e-03 2.13468072e+02] [-9.44580060e-02 9.95528622e-01 -6.69413720e-04 -2.59506754e+01] [-7.53894799e-03 -4.29111710e-05 9.99971581e-01 -5.17469458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.50, Y:-25.95, Z:-5.18 [[ 9.95096092e-01 9.86208886e-02 7.59527970e-03 2.13496580e+02] [-9.86185917e-02 9.95125075e-01 -6.77261067e-04 -2.59535888e+01] [-7.62504537e-03 -7.50959469e-05 9.99970926e-01 -5.17531926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.52, Y:-25.95, Z:-5.18 [[ 9.94289918e-01 1.06377572e-01 8.44814950e-03 2.13524214e+02] [-1.06375013e-01 9.94325797e-01 -7.52944676e-04 -2.59533270e+01] [-8.48030940e-03 -1.50026715e-04 9.99964030e-01 -5.17554698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:-25.95, Z:-5.18 [[ 9.93943568e-01 1.09569437e-01 8.40963248e-03 2.13551934e+02] [-1.09567020e-01 9.93979128e-01 -7.48993991e-04 -2.59529760e+01] [-8.44106601e-03 -1.76960606e-04 9.99964358e-01 -5.17625359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:-25.95, Z:-5.18 [[ 9.93641884e-01 1.12270402e-01 8.43584694e-03 2.13580621e+02] [-1.12268073e-01 9.93677672e-01 -7.50639090e-04 -2.59536168e+01] [-8.46678731e-03 -2.01209839e-04 9.99964136e-01 -5.17687363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:-25.96, Z:-5.18 [[ 9.93296271e-01 1.15239121e-01 9.08094404e-03 2.13609442e+02] [-1.15236551e-01 9.93337750e-01 -8.07518322e-04 -2.59572373e+01] [-9.11350222e-03 -2.44351730e-04 9.99958441e-01 -5.17788874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:-25.96, Z:-5.18 [[ 9.93272502e-01 1.15463208e-01 8.83091583e-03 2.13637359e+02] [-1.15460788e-01 9.93311729e-01 -7.85129771e-04 -2.59606018e+01] [-8.86250587e-03 -2.39776689e-04 9.99960698e-01 -5.17870596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:-25.96, Z:-5.18 [[ 9.93454310e-01 1.13891211e-01 8.79356371e-03 2.13665579e+02] [-1.13888756e-01 9.93493201e-01 -7.81153349e-04 -2.59622018e+01] [-8.82531226e-03 -2.25447867e-04 9.99961031e-01 -5.17969647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.69, Y:-25.96, Z:-5.18 [[ 9.93643690e-01 1.12210575e-01 9.00025234e-03 2.13694861e+02] [-1.12207940e-01 9.93684427e-01 -7.98782025e-04 -2.59633688e+01] [-9.03304238e-03 -2.16195060e-04 9.99959178e-01 -5.18001229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.72, Y:-25.96, Z:-5.18 [[ 9.93814029e-01 1.10712332e-01 8.74390005e-03 2.13722420e+02] [-1.10709789e-01 9.93852474e-01 -7.75808872e-04 -2.59644944e+01] [-8.77603831e-03 -1.97025587e-04 9.99961470e-01 -5.18004077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:-25.96, Z:-5.18 [[ 9.94135731e-01 1.07816443e-01 8.35242565e-03 2.13750645e+02] [-1.07814024e-01 9.94170804e-01 -7.40630309e-04 -2.59643159e+01] [-8.38358985e-03 -1.64221568e-04 9.99964844e-01 -5.18030000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:-25.97, Z:-5.18 [[ 9.94263075e-01 1.06621037e-01 8.53765314e-03 2.13779117e+02] [-1.06618471e-01 9.94299718e-01 -7.56386176e-04 -2.59660153e+01] [-8.56963279e-03 -1.58224678e-04 9.99963268e-01 -5.18101904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:-25.97, Z:-5.18 [[ 9.94554179e-01 1.03918153e-01 7.93743079e-03 2.13807408e+02] [-1.03915851e-01 9.94585844e-01 -7.02930401e-04 -2.59680097e+01] [-7.96750353e-03 -1.25722508e-04 9.99968251e-01 -5.18136819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.84, Y:-25.97, Z:-5.18 [[ 9.94669335e-01 1.02815938e-01 7.86111523e-03 2.13835059e+02] [-1.02813648e-01 9.94700392e-01 -6.95973479e-04 -2.59694850e+01] [-7.89101156e-03 -1.15966453e-04 9.99968859e-01 -5.18185819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:-25.97, Z:-5.18 [[ 9.94876937e-01 1.00817650e-01 7.46206887e-03 2.13863865e+02] [-1.00815535e-01 9.94904916e-01 -6.60067665e-04 -2.59684567e+01] [-7.49059548e-03 -9.56063676e-05 9.99971941e-01 -5.18296299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.89, Y:-25.97, Z:-5.18 [[ 9.94982506e-01 9.98083467e-02 6.93590841e-03 2.13891703e+02] [-9.98064951e-02 9.95006677e-01 -6.13451605e-04 -2.59693025e+01] [-6.96250277e-03 -8.18750940e-05 9.99975758e-01 -5.18411872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.92, Y:-25.97, Z:-5.18 [[ 9.95101039e-01 9.86459158e-02 6.55018735e-03 2.13920257e+02] [-9.86442424e-02 9.95122595e-01 -5.78844180e-04 -2.59699013e+01] [-6.57534005e-03 -7.01298238e-05 9.99978380e-01 -5.18428686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.95, Y:-25.97, Z:-5.18 [[ 9.95313279e-01 9.64757936e-02 6.62552944e-03 2.13947971e+02] [-9.64740344e-02 9.95335329e-01 -5.85352068e-04 -2.59681750e+01] [-6.65109583e-03 -5.65828687e-05 9.99977880e-01 -5.18496690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:-25.97, Z:-5.19 [[ 9.95439273e-01 9.51805772e-02 6.42732961e-03 2.13976083e+02] [-9.51788972e-02 9.95460022e-01 -5.67447990e-04 -2.59697285e+01] [-6.45215970e-03 -4.68861294e-05 9.99979184e-01 -5.18597586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:-25.97, Z:-5.19 [[ 9.95757774e-01 9.17698067e-02 6.69015036e-03 2.14004932e+02] [-9.17679137e-02 9.95780248e-01 -5.90032521e-04 -2.59711808e+01] [-6.71606676e-03 -2.64116717e-05 9.99977447e-01 -5.18642295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:-25.97, Z:-5.19 [[ 9.95947249e-01 8.96343667e-02 7.39989678e-03 2.14032836e+02] [-8.96319940e-02 9.95974739e-01 -6.52328129e-04 -2.59721135e+01] [-7.42858128e-03 -1.35830987e-05 9.99972408e-01 -5.18685618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:-25.97, Z:-5.19 [[ 9.96385579e-01 8.45304323e-02 8.38947211e-03 2.14061712e+02] [-8.45272092e-02 9.96420898e-01 -7.38660885e-04 -2.59730455e+01] [-8.42188466e-03 2.68523894e-05 9.99964535e-01 -5.18733857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:-25.98, Z:-5.19 [[ 9.96593582e-01 8.20514864e-02 8.29375631e-03 2.14090692e+02] [-8.20482536e-02 9.96628091e-01 -7.29860127e-04 -2.59759773e+01] [-8.32567662e-03 4.68856971e-05 9.99965340e-01 -5.18817639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.12, Y:-25.98, Z:-5.19 [[ 9.96797576e-01 7.95572388e-02 8.07701254e-03 2.14120118e+02] [-7.95540964e-02 9.96830297e-01 -7.10104864e-04 -2.59788561e+01] [-8.10790480e-03 6.52713726e-05 9.99967128e-01 -5.18873817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.15, Y:-25.98, Z:-5.19 [[ 9.97104231e-01 7.56754162e-02 7.50891819e-03 2.14148313e+02] [-7.56725909e-02 9.97132500e-01 -6.60068404e-04 -2.59818892e+01] [-7.53733732e-03 8.99377043e-05 9.99971590e-01 -5.18912910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.18, Y:-25.99, Z:-5.19 [[ 9.97203216e-01 7.43946513e-02 7.15416350e-03 2.14176684e+02] [-7.43920553e-02 9.97228874e-01 -6.28658218e-04 -2.59853501e+01] [-7.18110722e-03 9.46870702e-05 9.99974211e-01 -5.18945964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:-25.99, Z:-5.19 [[ 9.97277265e-01 7.34552355e-02 6.51040739e-03 2.14204939e+02] [-7.34530664e-02 9.97298511e-01 -5.71976525e-04 -2.59883237e+01] [-6.53483427e-03 9.22097980e-05 9.99978643e-01 -5.19035645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:-25.99, Z:-5.19 [[ 9.97240408e-01 7.39986733e-02 5.98034916e-03 2.14234244e+02] [-7.39968534e-02 9.97258337e-01 -5.25307982e-04 -2.59906707e+01] [-6.00282515e-03 8.13313259e-05 9.99981980e-01 -5.19078811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:-25.99, Z:-5.19 [[ 9.97143499e-01 7.53109832e-02 5.75313879e-03 2.14264234e+02] [-7.53093215e-02 9.97160093e-01 -5.05234611e-04 -2.59936744e+01] [-5.77485013e-03 7.05264285e-05 9.99983323e-01 -5.19153463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.29, Y:-26.00, Z:-5.19 [[ 9.96801638e-01 7.97332580e-02 5.39465074e-03 2.14292864e+02] [-7.97318610e-02 9.96816235e-01 -4.73861187e-04 -2.59971032e+01] [-5.41525793e-03 4.22200645e-05 9.99985336e-01 -5.19211618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.32, Y:-26.00, Z:-5.19 [[ 9.96363026e-01 8.50584502e-02 5.07736425e-03 2.14321561e+02] [-8.50572813e-02 9.96375963e-01 -4.46107292e-04 -2.59979920e+01] [-5.09690889e-03 1.26180130e-05 9.99987011e-01 -5.19264928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.35, Y:-26.00, Z:-5.19 [[ 9.96128879e-01 8.77470107e-02 5.26490001e-03 2.14349455e+02] [-8.77457918e-02 9.96142792e-01 -4.62494017e-04 -2.60000028e+01] [-5.28517467e-03 -1.26917442e-06 9.99986033e-01 -5.19313912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.38, Y:-26.00, Z:-5.19 [[ 9.95907721e-01 9.01874358e-02 5.83414987e-03 2.14378516e+02] [-9.01859852e-02 9.95924809e-01 -5.11770411e-04 -2.60029292e+01] [-5.85652986e-03 -1.64824499e-05 9.99982850e-01 -5.19374523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.41, Y:-26.01, Z:-5.19 [[ 9.95588088e-01 9.35524586e-02 7.23161245e-03 2.14406918e+02] [-9.35503231e-02 9.95614351e-01 -6.33743736e-04 -2.60064321e+01] [-7.25918542e-03 -4.55719671e-05 9.99973651e-01 -5.19409403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.44, Y:-26.01, Z:-5.19 [[ 9.95531675e-01 9.41628758e-02 7.07366861e-03 2.14435399e+02] [-9.41608502e-02 9.95556804e-01 -6.19585572e-04 -2.60091429e+01] [-7.10058087e-03 -4.92455882e-05 9.99974789e-01 -5.19468806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.46, Y:-26.01, Z:-5.20 [[ 9.95506798e-01 9.44437246e-02 6.82633945e-03 2.14463120e+02] [-9.44418455e-02 9.95530201e-01 -5.97817889e-04 -2.60118938e+01] [-6.85228723e-03 -4.95603241e-05 9.99976522e-01 -5.19541260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.49, Y:-26.01, Z:-5.20 [[ 9.95494378e-01 9.46120001e-02 6.28587314e-03 2.14491237e+02] [-9.46104121e-02 9.95514223e-01 -5.50179977e-04 -2.60135975e+01] [-6.30972974e-03 -4.70079733e-05 9.99980092e-01 -5.19578131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.52, Y:-26.01, Z:-5.20 [[ 9.95439941e-01 9.51994925e-02 6.03161825e-03 2.14520078e+02] [-9.51980441e-02 9.95458213e-01 -5.27442520e-04 -2.60149543e+01] [-6.05443619e-03 -4.91609095e-05 9.99981671e-01 -5.19659374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.55, Y:-26.02, Z:-5.20 [[ 9.95128072e-01 9.83826553e-02 6.40109170e-03 2.14547610e+02] [-9.83810910e-02 9.95148656e-01 -5.59565769e-04 -2.60179926e+01] [-6.42508937e-03 -7.29067812e-05 9.99979356e-01 -5.19615647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.58, Y:-26.02, Z:-5.20 [[ 9.94905323e-01 1.00585900e-01 6.77318274e-03 2.14576251e+02] [-1.00584204e-01 9.94928373e-01 -5.91383357e-04 -2.60206993e+01] [-6.79831651e-03 -9.29047455e-05 9.99976887e-01 -5.19638567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:214.60, Y:-26.02, Z:-5.20 [[ 9.94384761e-01 1.05531842e-01 7.87262174e-03 2.14604914e+02] [-1.05529710e-01 9.94415913e-01 -6.86835965e-04 -2.60207281e+01] [-7.90114341e-03 -1.47816274e-04 9.99968775e-01 -5.19605916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:214.63, Y:-26.02, Z:-5.20 [[ 9.94388521e-01 1.05496398e-01 7.87266951e-03 2.14634131e+02] [-1.05494269e-01 9.94419674e-01 -6.86287714e-04 -2.60231876e+01] [-7.90113833e-03 -1.48084892e-04 9.99968775e-01 -5.19672807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.66, Y:-26.02, Z:-5.20 [[ 9.94128100e-01 1.07888789e-01 8.32641862e-03 2.14662669e+02] [-1.07886494e-01 9.94162953e-01 -7.25666602e-04 -2.60238855e+01] [-8.35610822e-03 -1.76902548e-04 9.99965071e-01 -5.19700654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.69, Y:-26.02, Z:-5.20 [[ 9.93725479e-01 1.11528859e-01 8.42537341e-03 2.14690750e+02] [-1.11526641e-01 9.93761173e-01 -7.34086274e-04 -2.60206700e+01] [-8.45468077e-03 -2.10173365e-04 9.99964236e-01 -5.19752481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.72, Y:-26.02, Z:-5.20 [[ 9.93626235e-01 1.12376664e-01 8.85379039e-03 2.14720131e+02] [-1.12374256e-01 9.93665654e-01 -7.70604810e-04 -2.60206107e+01] [-8.88430542e-03 -2.29244951e-04 9.99960508e-01 -5.19817542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.75, Y:-26.02, Z:-5.20 [[ 9.93603290e-01 1.12563073e-01 9.05849051e-03 2.14747565e+02] [-1.12560563e-01 9.93644553e-01 -7.88111756e-04 -2.60211892e+01] [-9.08963204e-03 -2.36558356e-04 9.99958660e-01 -5.19882252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.78, Y:-26.02, Z:-5.20 [[ 9.93803749e-01 1.10805556e-01 8.73145433e-03 2.14776486e+02] [-1.10803161e-01 9.93842082e-01 -7.59007052e-04 -2.60198230e+01] [-8.76178895e-03 -2.13168688e-04 9.99961592e-01 -5.19956622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.80, Y:-26.02, Z:-5.20 [[ 9.94259402e-01 1.06656662e-01 8.52046602e-03 2.14804296e+02] [-1.06654231e-01 9.94295895e-01 -7.40444977e-04 -2.60183965e+01] [-8.55083778e-03 -1.72549370e-04 9.99963426e-01 -5.20116870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.83, Y:-26.02, Z:-5.20 [[ 9.94529630e-01 1.04104200e-01 8.55159513e-03 2.14833479e+02] [-1.04101663e-01 9.94566384e-01 -7.42452454e-04 -2.60197465e+01] [-8.58242147e-03 -1.51844313e-04 9.99963159e-01 -5.20184179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.86, Y:-26.02, Z:-5.20 [[ 9.94800721e-01 1.01467916e-01 8.70561497e-03 2.14862340e+02] [-1.01465190e-01 9.94838803e-01 -7.55376658e-04 -2.60207726e+01] [-8.73733007e-03 -1.31867632e-04 9.99961820e-01 -5.20258305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.89, Y:-26.02, Z:-5.20 [[ 9.95292717e-01 9.65581653e-02 8.30228176e-03 2.14890035e+02] [-9.65555166e-02 9.95327340e-01 -7.20199559e-04 -2.60204567e+01] [-8.33302916e-03 -8.48217276e-05 9.99965276e-01 -5.20319828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-26.02, Z:-5.20 [[ 9.95532370e-01 9.41185672e-02 7.54959196e-03 2.14918448e+02] [-9.41163109e-02 9.95560994e-01 -6.54371572e-04 -2.60209591e+01] [-7.57766779e-03 -5.90916625e-05 9.99971287e-01 -5.20429211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.95, Y:-26.02, Z:-5.21 [[ 9.95936843e-01 8.98386515e-02 6.23074223e-03 2.14947023e+02] [-8.98370316e-02 9.95956332e-01 -5.39946370e-04 -2.60201825e+01] [-6.25405523e-03 -2.19989040e-05 9.99980443e-01 -5.20621583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-26.02, Z:-5.21 [[ 9.96126777e-01 8.77243015e-02 5.99098678e-03 2.14975289e+02] [-8.77227669e-02 9.96144792e-01 -5.18960580e-04 -2.60219688e+01] [-6.01341573e-03 -8.59540706e-06 9.99981919e-01 -5.20725528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.00, Y:-26.02, Z:-5.21 [[ 9.96454373e-01 8.39740462e-02 5.20023509e-03 2.15002780e+02] [-8.39728381e-02 9.96467942e-01 -4.50608825e-04 -2.60238057e+01] [-5.21970701e-03 1.23326344e-05 9.99986377e-01 -5.20816927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.03, Y:-26.02, Z:-5.21 [[ 9.96573156e-01 8.25902672e-02 4.55988208e-03 2.15031720e+02] [-8.25893257e-02 9.96583588e-01 -3.94723732e-04 -2.60244889e+01] [-4.57690398e-03 1.67734897e-05 9.99989526e-01 -5.20923734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.06, Y:-26.03, Z:-5.21 [[ 9.96678769e-01 8.13266536e-02 4.17217096e-03 2.15059699e+02] [-8.13258539e-02 9.96687501e-01 -3.61265511e-04 -2.60257108e+01] [-4.18773116e-03 2.07602984e-05 9.99991231e-01 -5.20935443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.09, Y:-26.03, Z:-5.21 [[ 9.96883510e-01 7.87331631e-02 4.93526641e-03 2.15088585e+02] [-7.87320158e-02 9.96895726e-01 -4.26620826e-04 -2.60278169e+01] [-4.95353519e-03 3.67277929e-05 9.99987730e-01 -5.21045556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.12, Y:-26.03, Z:-5.21 [[ 9.96981337e-01 7.74705270e-02 5.15075516e-03 2.15117552e+02] [-7.74692621e-02 9.96994642e-01 -4.44948310e-04 -2.60315864e+01] [-5.16974567e-03 4.45799598e-05 9.99986636e-01 -5.21090360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:215.15, Y:-26.03, Z:-5.21 [[ 9.97112645e-01 7.56955070e-02 6.04679251e-03 2.15146384e+02] [-7.56937340e-02 9.97130978e-01 -5.21872178e-04 -2.60347594e+01] [-6.06894750e-03 6.26610441e-05 9.99981582e-01 -5.21170903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.17, Y:-26.04, Z:-5.21 [[ 9.97158072e-01 7.50627504e-02 6.43138118e-03 2.15173900e+02] [-7.50607327e-02 9.97178810e-01 -5.54870865e-04 -2.60375389e+01] [-6.45488716e-03 7.05497791e-05 9.99979165e-01 -5.21154277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.20, Y:-26.04, Z:-5.21 [[ 9.97147782e-01 7.51787460e-02 6.66764676e-03 2.15202682e+02] [-7.51765846e-02 9.97170071e-01 -5.74564523e-04 -2.60397671e+01] [-6.69197283e-03 7.16748289e-05 9.99977606e-01 -5.21218987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.23, Y:-26.04, Z:-5.21 [[ 9.96964935e-01 7.75510008e-02 6.83817527e-03 2.15231409e+02] [-7.75487824e-02 9.96988385e-01 -5.89374122e-04 -2.60409120e+01] [-6.86328787e-03 5.72931677e-05 9.99976446e-01 -5.21215872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.26, Y:-26.04, Z:-5.21 [[ 9.96805820e-01 7.95156038e-02 7.44491949e-03 2.15259951e+02] [-7.95130374e-02 9.96833620e-01 -6.40542884e-04 -2.60422373e+01] [-7.47227920e-03 4.65287124e-05 9.99972081e-01 -5.21269052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.29, Y:-26.05, Z:-5.21 [[ 9.96459462e-01 8.36649080e-02 8.28993130e-03 2.15287910e+02] [-8.36618719e-02 9.96493945e-01 -7.12956073e-04 -2.60454068e+01] [-8.32051576e-03 1.68806541e-05 9.99965384e-01 -5.21349515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.32, Y:-26.05, Z:-5.21 [[ 9.96308555e-01 8.55119486e-02 7.54790370e-03 2.15316829e+02] [-8.55094893e-02 9.96337145e-01 -6.48526460e-04 -2.60480077e+01] [-7.57571359e-03 7.15068806e-07 9.99971304e-01 -5.21435213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.34, Y:-26.05, Z:-5.22 [[ 9.96171969e-01 8.71463417e-02 6.85006980e-03 2.15344090e+02] [-8.71443551e-02 9.96195520e-01 -5.88523074e-04 -2.60497211e+01] [-6.87529648e-03 -1.06747259e-05 9.99976365e-01 -5.21583336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.37, Y:-26.05, Z:-5.22 [[ 9.95990309e-01 8.93376907e-02 4.69909701e-03 2.15373130e+02] [-8.93367805e-02 9.96001394e-01 -4.03653696e-04 -2.60481225e+01] [-4.71636866e-03 -1.77670281e-05 9.99988878e-01 -5.21643447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:-26.05, Z:-5.22 [[ 9.95942644e-01 8.98565294e-02 4.90447458e-03 2.15399958e+02] [-8.98555436e-02 9.95954720e-01 -4.21437826e-04 -2.60469566e+01] [-4.92250355e-03 -2.09663274e-05 9.99987884e-01 -5.21725280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.43, Y:-26.05, Z:-5.22 [[ 9.95982433e-01 8.93885124e-02 5.35595265e-03 2.15428129e+02] [-8.93873328e-02 9.95996834e-01 -4.59690763e-04 -2.60490418e+01] [-5.37560296e-03 -2.09103982e-05 9.99985551e-01 -5.21809853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.46, Y:-26.05, Z:-5.22 [[ 9.96042157e-01 8.87010833e-02 5.66923811e-03 2.15455808e+02] [-8.86997546e-02 9.96058290e-01 -4.85860781e-04 -2.60517818e+01] [-5.68998799e-03 -1.89222094e-05 9.99983812e-01 -5.21878986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.48, Y:-26.05, Z:-5.22 [[ 9.96244959e-01 8.63485441e-02 6.31747616e-03 2.15484783e+02] [-8.63468515e-02 9.96264989e-01 -5.40691662e-04 -2.60540783e+01] [-6.34056826e-03 -6.83283377e-06 9.99979898e-01 -5.22003061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-26.06, Z:-5.22 [[ 9.96363987e-01 8.49004526e-02 7.12165848e-03 2.15512121e+02] [-8.48982669e-02 9.96389438e-01 -6.09218594e-04 -2.60550160e+01] [-7.14766822e-03 2.38700530e-06 9.99974455e-01 -5.22052622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.54, Y:-26.06, Z:-5.22 [[ 9.96644064e-01 8.15752248e-02 6.78920865e-03 2.15540688e+02] [-8.15731648e-02 9.96667187e-01 -5.80240767e-04 -2.60557577e+01] [-6.81391476e-03 2.44762798e-05 9.99976785e-01 -5.22105823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.57, Y:-26.06, Z:-5.22 [[ 9.96792345e-01 7.97739596e-02 6.41371791e-03 2.15569006e+02] [-7.97720852e-02 9.96812979e-01 -5.47936621e-04 -2.60573665e+01] [-6.43698833e-03 3.45433772e-05 9.99979282e-01 -5.22183860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.60, Y:-26.06, Z:-5.22 [[ 9.96914076e-01 7.82145396e-02 6.69414022e-03 2.15597040e+02] [-7.82124639e-02 9.96936549e-01 -5.71709281e-04 -2.60594163e+01] [-6.71834903e-03 4.63798290e-05 9.99977431e-01 -5.22268127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:-26.06, Z:-5.22 [[ 9.97147646e-01 7.51583227e-02 6.91367168e-03 2.15624963e+02] [-7.51560384e-02 9.97171611e-01 -5.89978295e-04 -2.60637761e+01] [-6.93845891e-03 6.86912933e-05 9.99975926e-01 -5.22361409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:-26.07, Z:-5.22 [[ 9.97255156e-01 7.37450060e-02 6.62020522e-03 2.15653930e+02] [-7.37428840e-02 9.97277127e-01 -5.64397464e-04 -2.60678378e+01] [-6.64380074e-03 7.46552556e-05 9.99977927e-01 -5.22449161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:-26.07, Z:-5.22 [[ 9.97374941e-01 7.20619179e-02 7.09271071e-03 2.15681708e+02] [-7.20594413e-02 9.97400156e-01 -6.04442413e-04 -2.60714163e+01] [-7.11782805e-03 9.17589459e-05 9.99974664e-01 -5.22452231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:-26.07, Z:-5.23 [[ 9.97399484e-01 7.16893032e-02 7.41029920e-03 2.15709121e+02] [-7.16865930e-02 9.97427007e-01 -6.31040962e-04 -2.60740712e+01] [-7.43647144e-03 9.81808265e-05 9.99972344e-01 -5.22523615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:-26.08, Z:-5.23 [[ 9.97384000e-01 7.19034483e-02 7.41955640e-03 2.15737454e+02] [-7.19007425e-02 9.97411593e-01 -6.31126072e-04 -2.60770738e+01] [-7.44573170e-03 9.60034327e-05 9.99972276e-01 -5.22509757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:-26.08, Z:-5.23 [[ 9.97173211e-01 7.47049242e-02 8.04749346e-03 2.15766407e+02] [-7.47018360e-02 9.97205680e-01 -6.84074695e-04 -2.60810780e+01] [-8.07610994e-03 8.09784230e-05 9.99967384e-01 -5.22564938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.79, Y:-26.08, Z:-5.23 [[ 9.96997519e-01 7.70205936e-02 7.98595106e-03 2.15793702e+02] [-7.70176283e-02 9.97029500e-01 -6.78647908e-04 -2.60838400e+01] [-8.01449866e-03 6.15512703e-05 9.99967881e-01 -5.22623502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:-26.09, Z:-5.23 [[ 9.96541190e-01 8.27225347e-02 7.91447300e-03 2.15822022e+02] [-8.27198070e-02 9.96572618e-01 -6.71938947e-04 -2.60871845e+01] [-7.94293156e-03 1.49311590e-05 9.99968454e-01 -5.22678493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:-26.09, Z:-5.23 [[ 9.96268460e-01 8.59697347e-02 7.63935084e-03 2.15850558e+02] [-8.59672912e-02 9.96297749e-01 -6.48270146e-04 -2.60894103e+01] [-7.66679966e-03 -1.08831979e-05 9.99970610e-01 -5.22788830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.88, Y:-26.09, Z:-5.23 [[ 9.95811266e-01 9.11803932e-02 6.78656319e-03 2.15878933e+02] [-9.11785858e-02 9.95834391e-01 -5.75886181e-04 -2.60893827e+01] [-6.81080255e-03 -4.53152868e-05 9.99976805e-01 -5.22882240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.91, Y:-26.09, Z:-5.23 [[ 9.95586463e-01 9.36344671e-02 6.33885958e-03 2.15907083e+02] [-9.36329405e-02 9.95606641e-01 -5.37814243e-04 -2.60900961e+01] [-6.36136864e-03 -5.80854823e-05 9.99979765e-01 -5.22931133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:-26.09, Z:-5.23 [[ 9.95405182e-01 9.55728838e-02 5.86074089e-03 2.15934791e+02] [-9.55716154e-02 9.95422433e-01 -4.96751962e-04 -2.60909806e+01] [-5.88138897e-03 -6.56509971e-05 9.99982702e-01 -5.22992141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:-26.09, Z:-5.23 [[ 9.95122631e-01 9.84264736e-02 6.57103267e-03 2.15962825e+02] [-9.84249437e-02 9.95144322e-01 -5.56590007e-04 -2.60918316e+01] [-6.59390904e-03 -9.28782079e-05 9.99978256e-01 -5.23049581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:-26.09, Z:-5.23 [[ 9.95008671e-01 9.95712650e-02 6.58087763e-03 2.15990343e+02] [-9.95697586e-02 9.95030428e-01 -5.56968798e-04 -2.60930822e+01] [-6.60363157e-03 -1.01067613e-04 9.99978191e-01 -5.23049564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.02, Y:-26.09, Z:-5.23 [[ 9.94759646e-01 1.02012248e-01 6.83719301e-03 2.16017534e+02] [-1.02010680e-01 9.94783135e-01 -5.78610318e-04 -2.60922223e+01] [-6.86054964e-03 -1.21888513e-04 9.99976459e-01 -5.23106235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.05, Y:-26.09, Z:-5.23 [[ 9.94694309e-01 1.02594395e-01 7.59089656e-03 2.16045527e+02] [-1.02592490e-01 9.94723263e-01 -6.40934926e-04 -2.60930901e+01] [-7.61659772e-03 -1.41234655e-04 9.99970983e-01 -5.23148518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:-26.09, Z:-5.23 [[ 9.94696532e-01 1.02583163e-01 7.45014592e-03 2.16073883e+02] [-1.02581333e-01 9.94724422e-01 -6.28344495e-04 -2.60927230e+01] [-7.47529966e-03 -1.39233810e-04 9.99972050e-01 -5.23248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:-26.09, Z:-5.23 [[ 9.94761384e-01 1.01965846e-01 7.26322390e-03 2.16102066e+02] [-1.01964092e-01 9.94787891e-01 -6.12364130e-04 -2.60925344e+01] [-7.28780742e-03 -1.31431837e-04 9.99973435e-01 -5.23332051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:-26.09, Z:-5.23 [[ 9.94994242e-01 9.95725734e-02 8.47121058e-03 2.16129613e+02] [-9.95701097e-02 9.95030293e-01 -7.13137745e-04 -2.60913756e+01] [-8.50012011e-03 -1.33911417e-04 9.99963864e-01 -5.23376895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.16, Y:-26.09, Z:-5.23 [[ 9.95197763e-01 9.74692221e-02 9.00901781e-03 2.16157463e+02] [-9.74663538e-02 9.95238532e-01 -7.57920126e-04 -2.60926726e+01] [-9.03999555e-03 -1.23795704e-04 9.99959131e-01 -5.23409541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:-26.09, Z:-5.23 [[ 9.95428920e-01 9.50478902e-02 9.33620726e-03 2.16184978e+02] [-9.50447102e-02 9.95472695e-01 -7.84719421e-04 -2.60939415e+01] [-9.36852533e-03 -1.06224708e-04 9.99956109e-01 -5.23463984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:-26.09, Z:-5.24 [[ 9.95915591e-01 8.98316257e-02 9.07820589e-03 2.16213969e+02] [-8.98284106e-02 9.95956965e-01 -7.62119267e-04 -2.60948073e+01] [-9.10996480e-03 -5.64743462e-05 9.99958502e-01 -5.23509045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:-26.10, Z:-5.24 [[ 9.96151509e-01 8.72216792e-02 8.63418764e-03 2.16242228e+02] [-8.72186758e-02 9.96188927e-01 -7.24492706e-04 -2.60966791e+01] [-8.66447359e-03 -3.13579101e-05 9.99962462e-01 -5.23586715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:-26.10, Z:-5.24 [[ 9.96596351e-01 8.19909002e-02 8.55604431e-03 2.16270045e+02] [-8.19877601e-02 9.96633078e-01 -7.17705369e-04 -2.60994145e+01] [-8.58608208e-03 1.37716444e-05 9.99963139e-01 -5.23658946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-26.10, Z:-5.24 [[ 9.96807038e-01 7.93599780e-02 8.81607178e-03 2.16298650e+02] [-7.93565476e-02 9.96846022e-01 -7.38796187e-04 -2.61027003e+01] [-8.84689694e-03 3.68242182e-05 9.99960865e-01 -5.23742276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.33, Y:-26.11, Z:-5.24 [[ 9.97181108e-01 7.45037263e-02 8.89005868e-03 2.16326936e+02] [-7.45000488e-02 9.97220732e-01 -7.44572557e-04 -2.61076589e+01] [-8.92082426e-03 8.01638813e-05 9.99960205e-01 -5.23809133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.36, Y:-26.11, Z:-5.24 [[ 9.97354853e-01 7.21213372e-02 9.04491666e-03 2.16355640e+02] [-7.21174364e-02 9.97395860e-01 -7.57117775e-04 -2.61114324e+01] [-9.07596678e-03 1.02818886e-04 9.99958807e-01 -5.23849636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:-26.12, Z:-5.24 [[ 9.97615745e-01 6.84113130e-02 9.09496634e-03 2.16382686e+02] [-6.84072172e-02 9.97657192e-01 -7.61032706e-04 -2.61173216e+01] [-9.12572183e-03 1.37056872e-04 9.99958350e-01 -5.23924623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.41, Y:-26.12, Z:-5.24 [[ 9.97620909e-01 6.83359575e-02 9.09499015e-03 2.16411903e+02] [-6.83318611e-02 9.97662357e-01 -7.60748160e-04 -2.61196563e+01] [-9.12571576e-03 1.37460667e-04 9.99958350e-01 -5.23991499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:216.44, Y:-26.12, Z:-5.24 [[ 9.97709789e-01 6.70381793e-02 9.00334505e-03 2.16441826e+02] [-6.70341247e-02 9.97750400e-01 -7.51705579e-04 -2.61234410e+01] [-9.03348410e-03 1.46452659e-04 9.99959187e-01 -5.24008629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.47, Y:-26.13, Z:-5.24 [[ 9.97777435e-01 6.58496613e-02 1.01986568e-02 2.16470613e+02] [-6.58641866e-02 9.97827997e-01 1.09460385e-03 -2.61293746e+01] [-1.01044260e-02 -1.76389726e-03 9.99947393e-01 -5.24073595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.50, Y:-26.13, Z:-5.24 [[ 9.97778659e-01 6.59713759e-02 9.24799642e-03 2.16499379e+02] [-6.59488011e-02 9.97819286e-01 -2.72544236e-03 -2.61349429e+01] [-9.40763037e-03 2.10949395e-03 9.99953522e-01 -5.24054280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.53, Y:-26.14, Z:-5.24 [[ 9.97691640e-01 6.73292985e-02 8.84063573e-03 2.16528030e+02] [-6.73254052e-02 9.97730798e-01 -7.37602952e-04 -2.61431520e+01] [-8.87023684e-03 1.40700916e-04 9.99960649e-01 -5.24126812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.56, Y:-26.15, Z:-5.24 [[ 9.97612086e-01 6.85445935e-02 8.47140007e-03 2.16555984e+02] [-6.85410634e-02 9.97648046e-01 -7.06670650e-04 -2.61472992e+01] [-8.49991417e-03 1.24344412e-04 9.99963867e-01 -5.24167885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.58, Y:-26.15, Z:-5.24 [[ 9.97502906e-01 7.01859220e-02 7.86691856e-03 2.16584004e+02] [-7.01829369e-02 9.97533922e-01 -6.55217369e-04 -2.61520778e+01] [-7.89350517e-03 1.01457780e-04 9.99968841e-01 -5.24245208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.61, Y:-26.16, Z:-5.24 [[ 9.97192477e-01 7.45310164e-02 7.23121734e-03 2.16612129e+02] [-7.45286068e-02 9.97218694e-01 -6.02504551e-04 -2.61593139e+01] [-7.25601039e-03 6.18804525e-05 9.99973673e-01 -5.24333471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.64, Y:-26.16, Z:-5.24 [[ 9.97029156e-01 7.66992084e-02 7.07770709e-03 2.16640410e+02] [-7.66969566e-02 9.97054276e-01 -5.89419946e-04 -2.61634697e+01] [-7.10206616e-03 4.48302773e-05 9.99974779e-01 -5.24406267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.67, Y:-26.17, Z:-5.24 [[ 9.96678449e-01 8.12001015e-02 6.21391933e-03 2.16667446e+02] [-8.11984526e-02 9.96697820e-01 -5.17591559e-04 -2.61680622e+01] [-6.23542833e-03 1.13117177e-05 9.99980559e-01 -5.24467380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.70, Y:-26.17, Z:-5.25 [[ 9.96517876e-01 8.31639097e-02 5.99054981e-03 2.16695311e+02] [-8.31624147e-02 9.96535882e-01 -4.98644078e-04 -2.61711566e+01] [-6.01126703e-03 -1.28084998e-06 9.99981932e-01 -5.24531543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:-26.17, Z:-5.25 [[ 9.96357482e-01 8.50647183e-02 5.98007014e-03 2.16724054e+02] [-8.50632669e-02 9.96375428e-01 -4.97098411e-04 -2.61747188e+01] [-6.00068048e-03 -1.33965808e-05 9.99981996e-01 -5.24615320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.75, Y:-26.18, Z:-5.25 [[ 9.96073269e-01 8.83586544e-02 5.54904898e-03 2.16752471e+02] [-8.83574568e-02 9.96088725e-01 -4.61087679e-04 -2.61813839e+01] [-5.56808621e-03 -3.10227435e-05 9.99984498e-01 -5.24711846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.78, Y:-26.19, Z:-5.25 [[ 9.95917343e-01 9.01066760e-02 5.42524154e-03 2.16780767e+02] [-9.01055584e-02 9.95932119e-01 -4.50573064e-04 -2.61862380e+01] [-5.44377194e-03 -4.01108900e-05 9.99985182e-01 -5.24764913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.81, Y:-26.19, Z:-5.25 [[ 9.95586554e-01 9.36627488e-02 5.89090585e-03 2.16808806e+02] [-9.36614955e-02 9.95603980e-01 -4.88878265e-04 -2.61910715e+01] [-5.91079899e-03 -6.50304243e-05 9.99982529e-01 -5.24754319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:-26.19, Z:-5.25 [[ 9.95426872e-01 9.53322284e-02 6.09161607e-03 2.16837762e+02] [-9.53309215e-02 9.95445508e-01 -5.05212205e-04 -2.61937419e+01] [-6.11203486e-03 -7.78175676e-05 9.99981318e-01 -5.24783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.87, Y:-26.20, Z:-5.25 [[ 9.95278136e-01 9.68680016e-02 6.16626354e-03 2.16866835e+02] [-9.68666937e-02 9.95297233e-01 -5.11117264e-04 -2.61961924e+01] [-6.18677595e-03 -8.86017241e-05 9.99980858e-01 -5.24802609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.89, Y:-26.20, Z:-5.25 [[ 9.94970471e-01 9.99141615e-02 7.13600238e-03 2.16894319e+02] [-9.99124906e-02 9.94996053e-01 -5.91150862e-04 -2.61987805e+01] [-7.15935854e-03 -1.24798119e-04 9.99974364e-01 -5.24811234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.92, Y:-26.20, Z:-5.25 [[ 9.94804352e-01 1.01514091e-01 7.69354433e-03 2.16922888e+02] [-1.01512203e-01 9.94834090e-01 -6.36544894e-04 -2.62013017e+01] [-7.71841845e-03 -1.47751003e-04 9.99970202e-01 -5.24875025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.95, Y:-26.20, Z:-5.25 [[ 9.94569038e-01 1.03787856e-01 7.77883191e-03 2.16950726e+02] [-1.03785997e-01 9.94599443e-01 -6.43389093e-04 -2.62041023e+01] [-7.80359786e-03 -1.67438951e-04 9.99969537e-01 -5.24922075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.98, Y:-26.21, Z:-5.25 [[ 9.94517643e-01 1.04319994e-01 7.21080658e-03 2.16978954e+02] [-1.04318414e-01 9.94543771e-01 -5.95881636e-04 -2.62071349e+01] [-7.23362514e-03 -1.59605109e-04 9.99973824e-01 -5.25027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.01, Y:-26.21, Z:-5.25 [[ 9.94527119e-01 1.04259378e-01 6.76693620e-03 2.17006419e+02] [-1.04257986e-01 9.94550129e-01 -5.59130312e-04 -2.62100680e+01] [-6.78835185e-03 -1.49436878e-04 9.99976948e-01 -5.25102056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.04, Y:-26.21, Z:-5.25 [[ 9.94659610e-01 1.02959245e-01 7.18714221e-03 2.17035243e+02] [-1.02957646e-01 9.94685564e-01 -5.93145644e-04 -2.62122851e+01] [-7.21001643e-03 -1.49993227e-04 9.99973996e-01 -5.25202230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.06, Y:-26.21, Z:-5.25 [[ 9.94778226e-01 1.01778956e-01 7.57130550e-03 2.17063718e+02] [-1.01777150e-01 9.94807027e-01 -6.24431160e-04 -2.62140040e+01] [-7.59554187e-03 -1.49415376e-04 9.99971142e-01 -5.25279684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.09, Y:-26.22, Z:-5.25 [[ 9.95114556e-01 9.84303598e-02 7.64757570e-03 2.17091554e+02] [-9.84284201e-02 9.95143934e-01 -6.30520636e-04 -2.62179998e+01] [-7.67250094e-03 -1.25298531e-04 9.99970558e-01 -5.25402430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.12, Y:-26.22, Z:-5.25 [[ 9.95333543e-01 9.61925993e-02 7.62376880e-03 2.17120502e+02] [-9.61906107e-02 9.95362734e-01 -6.27943766e-04 -2.62220850e+01] [-7.64881890e-03 -1.08321483e-04 9.99970741e-01 -5.25430072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.15, Y:-26.23, Z:-5.25 [[ 9.95567528e-01 9.37044699e-02 8.04796790e-03 2.17148091e+02] [-9.37021748e-02 9.95600052e-01 -6.62606060e-04 -2.62253595e+01] [-8.07464641e-03 -9.44430176e-05 9.99967395e-01 -5.25471404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:-26.23, Z:-5.26 [[ 9.95967847e-01 8.93536605e-02 7.99813281e-03 2.17176436e+02] [-8.93512584e-02 9.95999960e-01 -6.57871874e-04 -2.62284604e+01] [-8.02492322e-03 -5.94239971e-05 9.99967798e-01 -5.25549670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.20, Y:-26.23, Z:-5.26 [[ 9.96270635e-01 8.59734845e-02 7.30624434e-03 2.17204427e+02] [-8.59713897e-02 9.96297425e-01 -6.00882999e-04 -2.62308779e+01] [-7.33085243e-03 -2.94858919e-05 9.99973129e-01 -5.25553921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.23, Y:-26.23, Z:-5.26 [[ 9.96345765e-01 8.50631785e-02 7.70529385e-03 2.17232701e+02] [-8.50608270e-02 9.96375559e-01 -6.32976886e-04 -2.62329858e+01] [-7.73120949e-03 -2.47548265e-05 9.99970113e-01 -5.25614837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:-26.24, Z:-5.26 [[ 9.96379201e-01 8.46685451e-02 7.72818640e-03 2.17261541e+02] [-8.46661706e-02 9.96409171e-01 -6.34483340e-04 -2.62359628e+01] [-7.75415659e-03 -2.21299449e-05 9.99969936e-01 -5.25685511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:-26.24, Z:-5.26 [[ 9.96407499e-01 8.44146524e-02 6.80167207e-03 2.17289833e+02] [-8.44128107e-02 9.96430713e-01 -5.57896430e-04 -2.62413999e+01] [-6.82448959e-03 -1.82560714e-05 9.99976713e-01 -5.25734662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:-26.24, Z:-5.26 [[ 9.96389667e-01 8.46463858e-02 6.52839668e-03 2.17317179e+02] [-8.46446914e-02 9.96411054e-01 -5.35908622e-04 -2.62442931e+01] [-6.55032935e-03 -1.86203090e-05 9.99978546e-01 -5.25793145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:-26.25, Z:-5.26 [[ 9.96343824e-01 8.51976026e-02 6.35234374e-03 2.17345496e+02] [-8.51960138e-02 9.96364074e-01 -5.20790244e-04 -2.62461319e+01] [-6.37361717e-03 -2.23082215e-05 9.99979688e-01 -5.25861927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:-26.25, Z:-5.26 [[ 9.96211065e-01 8.67899107e-02 5.57006008e-03 2.17374181e+02] [-8.67887145e-02 9.96226636e-01 -4.56570329e-04 -2.62462435e+01] [-5.58866791e-03 -2.85779403e-05 9.99984383e-01 -5.25921912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:-26.25, Z:-5.26 [[ 9.96084913e-01 8.82139310e-02 5.75748910e-03 2.17401588e+02] [-8.82126773e-02 9.96101552e-01 -4.71815461e-04 -2.62480208e+01] [-5.77666452e-03 -3.79152661e-05 9.99983314e-01 -5.26027885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:-26.25, Z:-5.26 [[ 9.96026053e-01 8.88237159e-02 6.51534747e-03 2.17428991e+02] [-8.88221279e-02 9.96047361e-01 -5.33262038e-04 -2.62494105e+01] [-6.53696097e-03 -4.75641434e-05 9.99978633e-01 -5.26092520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.46, Y:-26.25, Z:-5.26 [[ 9.95974844e-01 8.93700149e-02 6.86369189e-03 2.17458218e+02] [-8.93682701e-02 9.95998493e-01 -5.61112500e-04 -2.62512064e+01] [-6.88637341e-03 -5.45423363e-05 9.99976287e-01 -5.26103784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.49, Y:-26.25, Z:-5.26 [[ 9.95831755e-01 9.08836511e-02 7.69922488e-03 2.17486427e+02] [-9.08815045e-02 9.95861515e-01 -6.28929674e-04 -2.62537831e+01] [-7.72452118e-03 -7.34090000e-05 9.99970163e-01 -5.26172307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:-26.26, Z:-5.26 [[ 9.95663938e-01 9.26152998e-02 8.70221196e-03 2.17513976e+02] [-9.26126272e-02 9.95701962e-01 -7.10467341e-04 -2.62550260e+01] [-8.73060966e-03 -9.85480010e-05 9.99961883e-01 -5.26198111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:-26.26, Z:-5.26 [[ 9.95581904e-01 9.35097080e-02 8.52099970e-03 2.17542633e+02] [-9.35071837e-02 9.95618362e-01 -6.95039865e-04 -2.62558098e+01] [-8.54865674e-03 -1.04805572e-04 9.99963454e-01 -5.26231332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.57, Y:-26.26, Z:-5.26 [[ 9.95511160e-01 9.43064607e-02 7.98879441e-03 2.17570758e+02] [-9.43042684e-02 9.95543209e-01 -6.51508917e-04 -2.62562510e+01] [-8.01463152e-03 -1.04793014e-04 9.99967877e-01 -5.26308854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.60, Y:-26.25, Z:-5.26 [[ 9.95365382e-01 9.59217481e-02 6.83919719e-03 2.17599354e+02] [-9.59201816e-02 9.95388873e-01 -5.57449662e-04 -2.62532157e+01] [-6.86113233e-03 -1.01150941e-04 9.99976457e-01 -5.26417278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:-26.25, Z:-5.27 [[ 9.95289354e-01 9.67020630e-02 6.91470743e-03 2.17628652e+02] [-9.67004846e-02 9.95313367e-01 -5.63019846e-04 -2.62527067e+01] [-6.93674592e-03 -1.08287901e-04 9.99975935e-01 -5.26508399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.66, Y:-26.25, Z:-5.27 [[ 9.95230042e-01 9.72768475e-02 7.37419126e-03 2.17657854e+02] [-9.72750709e-02 9.95257354e-01 -6.00066116e-04 -2.62511319e+01] [-7.39759063e-03 -1.20121153e-04 9.99972630e-01 -5.26647654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:-26.25, Z:-5.27 [[ 9.95270350e-01 9.68492886e-02 7.55947632e-03 2.17686807e+02] [-9.68474120e-02 9.95299051e-01 -6.14774235e-04 -2.62511633e+01] [-7.58348006e-03 -1.20249150e-04 9.99971238e-01 -5.26726477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.72, Y:-26.25, Z:-5.27 [[ 9.95551357e-01 9.39501396e-02 7.13212396e-03 2.17715657e+02] [-9.39483967e-02 9.95576899e-01 -5.79748800e-04 -2.62489973e+01] [-7.15504534e-03 -9.28819065e-05 9.99974398e-01 -5.26833044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-26.25, Z:-5.27 [[ 9.95816152e-01 9.11359173e-02 6.66602626e-03 2.17743966e+02] [-9.11343319e-02 9.95838461e-01 -5.41832798e-04 -2.62499188e+01] [-6.68766576e-03 -6.79379978e-05 9.99977635e-01 -5.26950646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:217.77, Y:-26.25, Z:-5.27 [[ 9.96111470e-01 8.78800553e-02 6.24774499e-03 2.17771372e+02] [-8.78786011e-02 9.96131063e-01 -5.07429961e-04 -2.62502517e+01] [-6.26816583e-03 -4.35862855e-05 9.99980354e-01 -5.27034792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.80, Y:-26.25, Z:-5.27 [[ 9.96722523e-01 8.06391218e-02 6.44545635e-03 2.17800233e+02] [-8.06374264e-02 9.96743363e-01 -5.22911055e-04 -2.62494353e+01] [-6.46663293e-03 1.45221409e-06 9.99979091e-01 -5.27074022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.83, Y:-26.25, Z:-5.27 [[ 9.97012862e-01 7.69915179e-02 6.13672890e-03 2.17828515e+02] [-7.69899123e-02 9.97031748e-01 -4.97802877e-04 -2.62502364e+01] [-6.15684014e-03 2.38496515e-05 9.99981046e-01 -5.27166791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.86, Y:-26.25, Z:-5.27 [[ 9.97508118e-01 7.03046318e-02 5.90025092e-03 2.17857692e+02] [-7.03030335e-02 9.97525566e-01 -4.78100794e-04 -2.62527600e+01] [-5.91926384e-03 6.21038849e-05 9.99982479e-01 -5.27323608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.89, Y:-26.26, Z:-5.27 [[ 9.97734539e-01 6.69871145e-02 6.20607094e-03 2.17885178e+02] [-6.69852831e-02 9.97753837e-01 -5.02714812e-04 -2.62556838e+01] [-6.22580651e-03 8.58605127e-05 9.99980616e-01 -5.27412277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.91, Y:-26.26, Z:-5.28 [[ 9.97948268e-01 6.37242601e-02 6.20273556e-03 2.17914453e+02] [-6.37223737e-02 9.97967538e-01 -5.01486280e-04 -2.62586147e+01] [-6.22208558e-03 1.05204331e-04 9.99980637e-01 -5.27521278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.94, Y:-26.26, Z:-5.28 [[ 9.98367321e-01 5.68313693e-02 5.73481945e-03 2.17942716e+02] [-5.68296424e-02 9.98383782e-01 -4.63760169e-04 -2.62619042e+01] [-5.75190686e-03 1.37095259e-04 9.99983448e-01 -5.27595487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.97, Y:-26.27, Z:-5.28 [[ 9.98705909e-01 5.05442825e-02 5.63769010e-03 2.17971993e+02] [-5.05425158e-02 9.98721806e-01 -4.55500609e-04 -2.62663546e+01] [-5.65350699e-03 1.69968109e-04 9.99984004e-01 -5.27591216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:-26.27, Z:-5.28 [[ 9.98830168e-01 4.80350193e-02 5.56161727e-03 2.18001292e+02] [-4.80332629e-02 9.98845636e-01 -4.49021017e-04 -2.62703774e+01] [-5.57676587e-03 1.81353114e-04 9.99984433e-01 -5.27614458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:-26.27, Z:-5.28 [[ 9.98926690e-01 4.58702898e-02 6.43307482e-03 2.18030781e+02] [-4.58678984e-02 9.98947379e-01 -5.18851144e-04 -2.62749173e+01] [-6.45010308e-03 2.23222634e-04 9.99979173e-01 -5.27678352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:-26.28, Z:-5.28 [[ 9.98986582e-01 4.44242391e-02 7.23161935e-03 2.18060532e+02] [-4.44211769e-02 9.99012722e-01 -5.83593334e-04 -2.62812278e+01] [-7.25040542e-03 2.61764868e-04 9.99973681e-01 -5.27783539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-26.29, Z:-5.28 [[ 9.99049129e-01 4.30798291e-02 6.70575092e-03 2.18090481e+02] [-4.30771671e-02 9.99071602e-01 -5.40964621e-04 -2.62929932e+01] [-6.72282997e-03 2.51585480e-04 9.99977370e-01 -5.27840251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:-26.30, Z:-5.28 [[ 9.98994570e-01 4.44044798e-02 6.17183152e-03 2.18121550e+02] [-4.44022511e-02 9.99013610e-01 -4.97742032e-04 -2.63010195e+01] [-6.18784566e-03 2.23198375e-04 9.99980830e-01 -5.27853719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:-26.31, Z:-5.28 [[ 9.98907751e-01 4.62756045e-02 6.47104319e-03 2.18151598e+02] [-4.62731898e-02 9.98928686e-01 -5.22448092e-04 -2.63065009e+01] [-6.48828727e-03 2.22441638e-04 9.99978926e-01 -5.27871852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.18, Y:-26.31, Z:-5.28 [[ 9.98786292e-01 4.87827404e-02 6.79605946e-03 2.18181281e+02] [-4.87801351e-02 9.98809390e-01 -5.48688703e-04 -2.63128474e+01] [-6.81473454e-03 2.16510057e-04 9.99976756e-01 -5.27915934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514203822 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:218.21, Y:-26.32, Z:-5.28 [[ 9.98404611e-01 5.61619852e-02 5.83639254e-03 2.18210234e+02] [-5.61601897e-02 9.98421660e-01 -4.71208746e-04 -2.63225262e+01] [-5.85364475e-03 1.42684072e-04 9.99982857e-01 -5.27878052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382200001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:218.24, Y:-26.33, Z:-5.28 [[ 9.98403922e-01 5.61742330e-02 5.83640928e-03 2.18241126e+02] [-5.61724389e-02 9.98420971e-01 -4.71001456e-04 -2.63250251e+01] [-5.85365157e-03 1.42404357e-04 9.99982857e-01 -5.27948745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:-26.33, Z:-5.28 [[ 9.98136236e-01 6.07533073e-02 5.75241440e-03 2.18270147e+02] [-6.07516377e-02 9.98152805e-01 -4.64708366e-04 -2.63314779e+01] [-5.77002114e-03 1.14373664e-04 9.99983347e-01 -5.27990766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:-26.34, Z:-5.28 [[ 9.97422196e-01 7.15709408e-02 5.15405573e-03 2.18298081e+02] [-7.15697435e-02 9.97435511e-01 -4.16609054e-04 -2.63422022e+01] [-5.17065531e-03 4.66606718e-05 9.99986631e-01 -5.28070291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:-26.35, Z:-5.28 [[ 9.96985580e-01 7.73936751e-02 5.47464715e-03 2.18326501e+02] [-7.73924110e-02 9.97000611e-01 -4.42694640e-04 -2.63462754e+01] [-5.49248832e-03 1.76640298e-05 9.99984916e-01 -5.28077058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.36, Y:-26.35, Z:-5.28 [[ 9.96506331e-01 8.33005660e-02 6.01235652e-03 2.18355740e+02] [-8.32991537e-02 9.96524468e-01 -4.85365330e-04 -2.63480587e+01] [-6.03189159e-03 -1.71545860e-05 9.99981808e-01 -5.28058035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.38, Y:-26.35, Z:-5.28 [[ 9.95462595e-01 9.49617147e-02 6.04109326e-03 2.18383494e+02] [-9.49605018e-02 9.95480921e-01 -4.87940781e-04 -2.63492733e+01] [-6.06012877e-03 -8.79384510e-05 9.99981633e-01 -5.28187551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.41, Y:-26.35, Z:-5.28 [[ 9.94954141e-01 1.00166574e-01 5.73709731e-03 2.18411961e+02] [-1.00165567e-01 9.94970675e-01 -4.63159080e-04 -2.63537917e+01] [-5.75463664e-03 -1.13837562e-04 9.99983435e-01 -5.28274831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.44, Y:-26.36, Z:-5.28 [[ 9.94015463e-01 1.09078257e-01 5.93237785e-03 2.18439148e+02] [-1.09077340e-01 9.94033151e-01 -4.78794583e-04 -2.63593156e+01] [-5.94920632e-03 -1.71158777e-04 9.99982289e-01 -5.28391078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.47, Y:-26.36, Z:-5.28 [[ 9.93631551e-01 1.12525545e-01 5.86034257e-03 2.18466476e+02] [-1.12524712e-01 9.93648814e-01 -4.72627798e-04 -2.63612174e+01] [-5.87630515e-03 -1.89815469e-04 9.99982716e-01 -5.28465565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.49, Y:-26.36, Z:-5.29 [[ 9.93354416e-01 1.14958817e-01 5.61014494e-03 2.18494730e+02] [-1.14958095e-01 9.93370239e-01 -4.52155279e-04 -2.63623100e+01] [-5.62493026e-03 -1.95781130e-04 9.99984161e-01 -5.28527720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:-26.36, Z:-5.29 [[ 9.93142168e-01 1.16830135e-01 4.39933080e-03 2.18523817e+02] [-1.16829710e-01 9.93151898e-01 -3.54384246e-04 -2.63625111e+01] [-4.41060650e-03 -1.62018605e-04 9.99990260e-01 -5.28618727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.55, Y:-26.36, Z:-5.29 [[ 9.93171899e-01 1.16559346e-01 4.84748199e-03 2.18552625e+02] [-1.16558829e-01 9.93183713e-01 -3.90149167e-04 -2.63643641e+01] [-4.85991569e-03 -1.77531633e-04 9.99988175e-01 -5.28701852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.58, Y:-26.37, Z:-5.29 [[ 9.93521780e-01 1.13536567e-01 4.89095740e-03 2.18580187e+02] [-1.13536003e-01 9.93533805e-01 -3.93615548e-04 -2.63669418e+01] [-4.90402127e-03 -1.64234135e-04 9.99987962e-01 -5.28728395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:-26.37, Z:-5.29 [[ 9.93824074e-01 1.10856029e-01 4.96486585e-03 2.18608549e+02] [-1.10855417e-01 9.93836464e-01 -3.99038735e-04 -2.63695716e+01] [-4.97850057e-03 -1.53807974e-04 9.99987595e-01 -5.28795481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.64, Y:-26.37, Z:-5.29 [[ 9.94171930e-01 1.07668316e-01 5.45046850e-03 2.18637672e+02] [-1.07667534e-01 9.94186859e-01 -4.37504014e-04 -2.63716179e+01] [-5.46588948e-03 -1.51884293e-04 9.99985050e-01 -5.28827448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:-26.37, Z:-5.29 [[ 9.94812149e-01 1.01445601e-01 7.58809091e-03 2.18666497e+02] [-1.01443907e-01 9.94841074e-01 -6.08694358e-04 -2.63715190e+01] [-7.61069388e-03 -1.64229050e-04 9.99971025e-01 -5.28757001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:-26.37, Z:-5.29 [[ 9.95105320e-01 9.84745215e-02 8.25651348e-03 2.18695730e+02] [-9.84724185e-02 9.95139560e-01 -6.61838630e-04 -2.63722607e+01] [-8.28155744e-03 -1.54439710e-04 9.99965695e-01 -5.28791397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.72, Y:-26.37, Z:-5.29 [[ 9.95321805e-01 9.62295862e-02 8.62390115e-03 2.18724070e+02] [-9.62272130e-02 9.95359155e-01 -6.90663624e-04 -2.63736254e+01] [-8.65034123e-03 -1.42421408e-04 9.99962575e-01 -5.28845704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.75, Y:-26.37, Z:-5.29 [[ 9.95633832e-01 9.29540721e-02 8.53301542e-03 2.18753719e+02] [-9.29516322e-02 9.95670391e-01 -6.82940439e-04 -2.63744956e+01] [-8.55955289e-03 -1.13199103e-04 9.99963360e-01 -5.28914202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:218.78, Y:-26.38, Z:-5.29 [[ 9.95744866e-01 9.17693521e-02 8.39933676e-03 2.18782525e+02] [-9.17669461e-02 9.95780285e-01 -6.72215307e-04 -2.63751966e+01] [-8.42558271e-03 -1.01426543e-04 9.99964499e-01 -5.29056240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-26.38, Z:-5.29 [[ 9.95951599e-01 8.95957804e-02 7.28075801e-03 2.18811376e+02] [-8.95939170e-02 9.95978208e-01 -5.82350105e-04 -2.63759363e+01] [-7.30365243e-03 -7.23191109e-05 9.99973325e-01 -5.29071690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-26.38, Z:-5.29 [[ 9.96062579e-01 8.83707492e-02 7.06751535e-03 2.18840848e+02] [-8.83689638e-02 9.96087650e-01 -5.65108774e-04 -2.63773315e+01] [-7.08980385e-03 -6.16653061e-05 9.99974865e-01 -5.29171922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-26.38, Z:-5.29 [[ 9.96281790e-01 8.58384171e-02 7.37298209e-03 2.18870849e+02] [-8.58364061e-02 9.96309071e-01 -5.89343101e-04 -2.63772299e+01] [-7.39635722e-03 -4.57184852e-05 9.99972646e-01 -5.29223099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:-26.38, Z:-5.29 [[ 9.96377395e-01 8.47264159e-02 7.31587355e-03 2.18900969e+02] [-8.47244069e-02 9.96404252e-01 -5.84644750e-04 -2.63782879e+01] [-7.33910237e-03 -3.73062350e-05 9.99973068e-01 -5.29258520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.93, Y:-26.38, Z:-5.29 [[ 9.96548283e-01 8.27027536e-02 7.19538551e-03 2.18931047e+02] [-8.27007587e-02 9.96574259e-01 -5.74853755e-04 -2.63787185e+01] [-7.21827797e-03 -2.21943180e-05 9.99973948e-01 -5.29305624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.96, Y:-26.38, Z:-5.29 [[ 9.96626986e-01 8.17714887e-02 6.93350550e-03 2.18959228e+02] [-8.17696136e-02 9.96651104e-01 -5.53970191e-04 -2.63805327e+01] [-6.95558488e-03 -1.48484235e-05 9.99975810e-01 -5.29394789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.99, Y:-26.38, Z:-5.30 [[ 9.96750952e-01 8.02681032e-02 6.67624931e-03 2.18988624e+02] [-8.02663336e-02 9.96773310e-01 -5.33016223e-04 -2.63837485e+01] [-6.69749132e-03 -4.59362675e-06 9.99977572e-01 -5.29506384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.02, Y:-26.39, Z:-5.30 [[ 9.96778712e-01 7.99367656e-02 6.50488536e-03 2.19017085e+02] [-7.99350783e-02 9.96799937e-01 -5.19384691e-04 -2.63863843e+01] [-6.52558725e-03 -2.25691780e-06 9.99978708e-01 -5.29583363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.05, Y:-26.39, Z:-5.30 [[ 9.96767510e-01 8.00995925e-02 6.21180504e-03 2.19046752e+02] [-8.00980594e-02 9.96786866e-01 -4.95588726e-04 -2.63883729e+01] [-6.23154213e-03 -3.56678891e-06 9.99980584e-01 -5.29643384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.08, Y:-26.39, Z:-5.30 [[ 9.96691285e-01 8.10704996e-02 5.83575125e-03 2.19076064e+02] [-8.10691639e-02 9.96708370e-01 -4.65476212e-04 -2.63897460e+01] [-5.85427850e-03 -9.16339087e-06 9.99982864e-01 -5.29811473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.10, Y:-26.39, Z:-5.30 [[ 9.96561337e-01 8.26887696e-02 5.29806612e-03 2.19104788e+02] [-8.26876896e-02 9.96575420e-01 -4.22938635e-04 -2.63918917e+01] [-5.31489474e-03 -1.66005551e-05 9.99985876e-01 -5.29767372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:-26.39, Z:-5.30 [[ 9.96453802e-01 8.39774158e-02 5.25483986e-03 2.19133251e+02] [-8.39763726e-02 9.96467658e-01 -4.19239185e-04 -2.63935767e+01] [-5.27148459e-03 -2.35299106e-05 9.99986105e-01 -5.29842466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.16, Y:-26.40, Z:-5.30 [[ 9.96325821e-01 8.54950672e-02 5.04497982e-03 2.19161403e+02] [-8.54941250e-02 9.96338593e-01 -4.02508413e-04 -2.63956195e+01] [-5.06092059e-03 -3.02866104e-05 9.99987193e-01 -5.29964228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:-26.40, Z:-5.30 [[ 9.96075021e-01 8.83974855e-02 4.52072604e-03 2.19189472e+02] [-8.83967593e-02 9.96085279e-01 -3.60594992e-04 -2.63988745e+01] [-4.53490435e-03 -4.04378668e-05 9.99989716e-01 -5.30094973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:-26.40, Z:-5.30 [[ 9.95992554e-01 8.93025532e-02 4.88731767e-03 2.19218362e+02] [-8.93017187e-02 9.96004544e-01 -3.89135834e-04 -2.64008796e+01] [-4.90254143e-03 -4.88694741e-05 9.99987981e-01 -5.30178414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:-26.40, Z:-5.30 [[ 9.95962348e-01 8.95613554e-02 6.14524497e-03 2.19247459e+02] [-8.95600445e-02 9.95981305e-01 -4.88718174e-04 -2.64010101e+01] [-6.16431936e-03 -6.36235128e-05 9.99980998e-01 -5.30252209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:-26.40, Z:-5.30 [[ 9.96001355e-01 8.91224261e-02 6.20431534e-03 2.19275325e+02] [-8.91210819e-02 9.96020677e-01 -4.93340519e-04 -2.64027315e+01] [-6.22359407e-03 -6.15674704e-05 9.99980631e-01 -5.30312110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.30, Y:-26.41, Z:-5.30 [[ 9.96216840e-01 8.67106991e-02 5.76741621e-03 2.19303051e+02] [-8.67094982e-02 9.96233533e-01 -4.58418978e-04 -2.64067446e+01] [-5.78544326e-03 -4.34050598e-05 9.99983263e-01 -5.30400981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.33, Y:-26.41, Z:-5.30 [[ 9.96366212e-01 8.49662998e-02 5.92444639e-03 2.19331719e+02] [-8.49650064e-02 9.96383825e-01 -4.70128293e-04 -2.64102686e+01] [-5.94296762e-03 -3.49506785e-05 9.99982340e-01 -5.30479907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:-26.41, Z:-5.31 [[ 9.96534810e-01 8.29554941e-02 6.06283783e-03 2.19360183e+02] [-8.29541043e-02 9.96553253e-01 -4.80781033e-04 -2.64131527e+01] [-6.08182419e-03 -2.38222466e-05 9.99981505e-01 -5.30551173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.39, Y:-26.42, Z:-5.31 [[ 9.96849833e-01 7.89915447e-02 7.12359741e-03 2.19388532e+02] [-7.89895301e-02 9.96875286e-01 -5.64156397e-04 -2.64169172e+01] [-7.14590179e-03 -3.10400929e-07 9.99974468e-01 -5.30572713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:-26.42, Z:-5.31 [[ 9.97168167e-01 7.47296616e-02 8.43349228e-03 2.19418759e+02] [-7.47266939e-02 9.97203829e-01 -6.66898324e-04 -2.64240597e+01] [-8.45974788e-03 3.48027833e-05 9.99964215e-01 -5.30594263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:-26.43, Z:-5.31 [[ 9.97309715e-01 7.28270010e-02 8.34029031e-03 2.19449280e+02] [-7.28240320e-02 9.97344587e-01 -6.59528158e-04 -2.64295160e+01] [-8.36617486e-03 5.03802712e-05 9.99965002e-01 -5.30655077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:219.48, Y:-26.43, Z:-5.31 [[ 9.97458957e-01 7.07690062e-02 8.20837339e-03 2.19479517e+02] [-7.07660607e-02 9.97492728e-01 -6.49096516e-04 -2.64340615e+01] [-8.23372869e-03 6.65728842e-05 9.99966100e-01 -5.30861139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.51, Y:-26.44, Z:-5.31 [[ 9.97598897e-01 6.88169355e-02 7.78911029e-03 2.19509424e+02] [-6.88142237e-02 9.97629302e-01 -6.15942296e-04 -2.64400518e+01] [-7.81303192e-03 7.84617774e-05 9.99969475e-01 -5.30787399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.54, Y:-26.45, Z:-5.31 [[ 9.97793270e-01 6.59308190e-02 7.85599908e-03 2.19539236e+02] [-6.59279724e-02 9.97824191e-01 -6.21049501e-04 -2.64490091e+01] [-7.87985223e-03 1.01748921e-04 9.99968948e-01 -5.30882505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.57, Y:-26.46, Z:-5.31 [[ 9.97893512e-01 6.43732716e-02 8.03863628e-03 2.19569706e+02] [-6.43702569e-02 9.97925883e-01 -6.33466930e-04 -2.64574400e+01] [-8.06274155e-03 1.14683458e-04 9.99967489e-01 -5.31040461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.60, Y:-26.46, Z:-5.31 [[ 9.97906438e-01 6.41632010e-02 8.11322610e-03 2.19600688e+02] [-6.41600966e-02 9.97939412e-01 -6.42600086e-04 -2.64632877e+01] [-8.13773936e-03 1.20709393e-04 9.99966881e-01 -5.31031105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.63, Y:-26.47, Z:-5.31 [[ 9.97897158e-01 6.43176172e-02 8.03161472e-03 2.19632012e+02] [-6.43145951e-02 9.97929472e-01 -6.34250523e-04 -2.64691679e+01] [-8.05577852e-03 1.16366745e-04 9.99967545e-01 -5.31108335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.66, Y:-26.48, Z:-5.31 [[ 9.97822639e-01 6.53984403e-02 8.54542378e-03 2.19662038e+02] [-6.53950433e-02 9.97859224e-01 -6.76640065e-04 -2.64801575e+01] [-8.57138115e-03 1.16338417e-04 9.99963258e-01 -5.31121734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.69, Y:-26.49, Z:-5.31 [[ 9.97772880e-01 6.61152984e-02 8.83446356e-03 2.19693562e+02] [-6.61116855e-02 9.97811983e-01 -7.00692717e-04 -2.64871416e+01] [-8.86146012e-03 1.15070914e-04 9.99960730e-01 -5.31213965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.73, Y:-26.50, Z:-5.31 [[ 9.97677328e-01 6.76204515e-02 8.21117314e-03 2.19725706e+02] [-6.76173742e-02 9.97711113e-01 -6.52121192e-04 -2.64957655e+01] [-8.23647542e-03 9.53885618e-05 9.99966075e-01 -5.31397753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.76, Y:-26.50, Z:-5.31 [[ 9.97600563e-01 6.87572145e-02 8.09709967e-03 2.19757130e+02] [-6.87542459e-02 9.97633419e-01 -6.44746223e-04 -2.65015696e+01] [-8.12226817e-03 8.64892132e-05 9.99967010e-01 -5.31386193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.79, Y:-26.51, Z:-5.31 [[ 9.97527617e-01 6.98300182e-02 7.90074432e-03 2.19790023e+02] [-6.98272167e-02 9.97558902e-01 -6.30216682e-04 -2.65079075e+01] [-7.92546587e-03 7.69715589e-05 9.99968590e-01 -5.31491871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:-26.52, Z:-5.32 [[ 9.97407866e-01 7.16043876e-02 7.09650158e-03 2.19821184e+02] [-7.16021642e-02 9.97433110e-01 -5.67210395e-04 -2.65196100e+01] [-7.11890039e-03 5.76152388e-05 9.99974659e-01 -5.31538179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.85, Y:-26.53, Z:-5.32 [[ 9.97331201e-01 7.26890798e-02 6.83911001e-03 2.19852816e+02] [-7.26870322e-02 9.97354649e-01 -5.47802319e-04 -2.65260500e+01] [-6.86083741e-03 4.92257347e-05 9.99976463e-01 -5.31628503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.88, Y:-26.54, Z:-5.32 [[ 9.97201911e-01 7.44832185e-02 6.37173876e-03 2.19883623e+02] [-7.44814718e-02 9.97222267e-01 -5.11311003e-04 -2.65366154e+01] [-6.39212386e-03 3.53038286e-05 9.99979570e-01 -5.31701493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.92, Y:-26.54, Z:-5.32 [[ 9.97133707e-01 7.53404449e-02 6.94172625e-03 2.19915481e+02] [-7.53383748e-02 9.97157869e-01 -5.59604337e-04 -2.65436807e+01] [-6.96415780e-03 3.50219732e-05 9.99975749e-01 -5.31704137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.95, Y:-26.55, Z:-5.32 [[ 9.97043640e-01 7.63638025e-02 8.51758004e-03 2.19947947e+02] [-7.63607190e-02 9.97080021e-01 -6.87113311e-04 -2.65532894e+01] [-8.54517947e-03 3.46734202e-05 9.99963489e-01 -5.31670495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.98, Y:-26.56, Z:-5.32 [[ 9.97005496e-01 7.68330123e-02 8.75951374e-03 2.19980434e+02] [-7.68297545e-02 9.97043975e-01 -7.08310992e-04 -2.65600968e+01] [-8.78804206e-03 3.31986618e-05 9.99961384e-01 -5.31699209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.01, Y:-26.57, Z:-5.32 [[ 9.96978451e-01 7.71914933e-02 8.68572030e-03 2.20013332e+02] [-7.71882893e-02 9.97016285e-01 -7.03996213e-04 -2.65681622e+01] [-8.71414711e-03 3.14331624e-05 9.99962031e-01 -5.31782696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.04, Y:-26.58, Z:-5.32 [[ 9.96954322e-01 7.74964616e-02 8.73946737e-03 2.20044190e+02] [-7.74932127e-02 9.96992627e-01 -7.10272603e-04 -2.65795130e+01] [-8.76822814e-03 3.08599370e-05 9.99961558e-01 -5.31833191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.08, Y:-26.59, Z:-5.32 [[ 9.96843790e-01 7.90225327e-02 7.60900325e-03 2.20076866e+02] [-7.90201096e-02 9.96872830e-01 -6.19040547e-04 -2.65877764e+01] [-7.63412676e-03 1.58224549e-05 9.99970860e-01 -5.31927039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.11, Y:-26.59, Z:-5.32 [[ 9.96837014e-01 7.91079925e-02 7.60874543e-03 2.20110236e+02] [-7.91055478e-02 9.96866052e-01 -6.22187624e-04 -2.65906498e+01] [-7.63412003e-03 1.83256779e-05 9.99970860e-01 -5.32003461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.14, Y:-26.60, Z:-5.32 [[ 9.96740507e-01 8.03512878e-02 7.21332109e-03 2.20141765e+02] [-8.03491303e-02 9.96766608e-01 -5.88865976e-04 -2.65964095e+01] [-7.23731374e-03 7.36249551e-06 9.99973810e-01 -5.32050738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.17, Y:-26.60, Z:-5.32 [[ 9.96624764e-01 8.17327423e-02 7.67066946e-03 2.20174101e+02] [-8.17303316e-02 9.96654283e-01 -6.27743435e-04 -2.66019837e+01] [-7.69631276e-03 -1.30170594e-06 9.99970383e-01 -5.32158402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:-26.61, Z:-5.32 [[ 9.96391032e-01 8.44766593e-02 8.28287689e-03 2.20206455e+02] [-8.44739273e-02 9.96425458e-01 -6.79754577e-04 -2.66095480e+01] [-8.31069279e-03 -2.23857763e-05 9.99965465e-01 -5.32181843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.24, Y:-26.62, Z:-5.32 [[ 9.96296150e-01 8.55793619e-02 8.37581792e-03 2.20238411e+02] [-8.55765916e-02 9.96331356e-01 -6.89248461e-04 -2.66151050e+01] [-8.40407547e-03 -3.00783614e-05 9.99964685e-01 -5.32208177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.27, Y:-26.62, Z:-5.32 [[ 9.96186219e-01 8.67993985e-02 8.88150493e-03 2.20270375e+02] [-8.67963168e-02 9.96225809e-01 -7.32571208e-04 -2.66232991e+01] [-8.91157117e-03 -4.11045727e-05 9.99960290e-01 -5.32336588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:-26.63, Z:-5.32 [[ 9.96200843e-01 8.66874471e-02 8.31669468e-03 2.20302938e+02] [-8.66847300e-02 9.96235557e-01 -6.87307684e-04 -2.66284593e+01] [-8.34496791e-03 -3.62339382e-05 9.99965179e-01 -5.32438851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.34, Y:-26.64, Z:-5.33 [[ 9.96340507e-01 8.51485707e-02 7.43736499e-03 2.20335300e+02] [-8.51463477e-02 9.96368266e-01 -6.15603192e-04 -2.66363869e+01] [-7.46277219e-03 -1.99140695e-05 9.99972153e-01 -5.32566324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.37, Y:-26.64, Z:-5.33 [[ 9.96451879e-01 8.38461671e-02 7.31255340e-03 2.20367466e+02] [-8.38439743e-02 9.96478710e-01 -6.06456676e-04 -2.66420110e+01] [-7.33765285e-03 -8.80864525e-06 9.99973079e-01 -5.32672169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.40, Y:-26.65, Z:-5.33 [[ 9.96549890e-01 8.26567774e-02 7.49498383e-03 2.20399113e+02] [-8.26544267e-02 9.96578074e-01 -6.23372904e-04 -2.66479509e+01] [-7.52086254e-03 1.72860682e-06 9.99971718e-01 -5.32745382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:-26.66, Z:-5.33 [[ 9.96739599e-01 8.02729367e-02 8.15032513e-03 2.20431796e+02] [-8.02700627e-02 9.96772921e-01 -6.79670034e-04 -2.66554309e+01] [-8.17858250e-03 2.32269282e-05 9.99966555e-01 -5.32796074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.46, Y:-26.66, Z:-5.33 [[ 9.96801741e-01 7.94898764e-02 8.22492666e-03 2.20464531e+02] [-7.94869096e-02 9.96835673e-01 -6.87500937e-04 -2.66627281e+01] [-8.25354967e-03 3.15281293e-05 9.99965938e-01 -5.32815641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:-26.67, Z:-5.33 [[ 9.96788194e-01 7.96846865e-02 7.97785518e-03 2.20496034e+02] [-7.96818816e-02 9.96820119e-01 -6.69324271e-04 -2.66672003e+01] [-8.00582144e-03 3.14840200e-05 9.99967952e-01 -5.32890561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.53, Y:-26.67, Z:-5.33 [[ 9.96750779e-01 8.01576228e-02 7.91457569e-03 2.20528448e+02] [-8.01548787e-02 9.96782200e-01 -6.63810989e-04 -2.66713684e+01] [-7.94231769e-03 2.72622656e-05 9.99968459e-01 -5.33033417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.56, Y:-26.68, Z:-5.33 [[ 9.96589450e-01 8.21560201e-02 7.73664447e-03 2.20560342e+02] [-8.21534456e-02 9.96619480e-01 -6.50518278e-04 -2.66774656e+01] [-7.76393458e-03 1.27076524e-05 9.99969860e-01 -5.33140948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.59, Y:-26.68, Z:-5.33 [[ 9.96439814e-01 8.38970424e-02 8.30564484e-03 2.20593270e+02] [-8.38941218e-02 9.96474428e-01 -7.00031402e-04 -2.66814179e+01] [-8.33509325e-03 7.44380016e-07 9.99965263e-01 -5.33188998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-26.68, Z:-5.33 [[ 9.96395743e-01 8.43995632e-02 8.49927277e-03 2.20624939e+02] [-8.43965065e-02 9.96431992e-01 -7.18295759e-04 -2.66848437e+01] [-8.52957114e-03 -1.60209386e-06 9.99963623e-01 -5.33224108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.66, Y:-26.69, Z:-5.33 [[ 9.96359356e-01 8.48266124e-02 8.51353144e-03 2.20657859e+02] [-8.48235493e-02 9.96395728e-01 -7.20892600e-04 -2.66882399e+01] [-8.54399723e-03 -3.87986661e-06 9.99963499e-01 -5.33298926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:-26.69, Z:-5.33 [[ 9.96396679e-01 8.45453380e-02 6.76341338e-03 2.20689371e+02] [-8.45433941e-02 9.96419633e-01 -5.73314756e-04 -2.66915815e+01] [-6.78766897e-03 -5.53003423e-07 9.99976964e-01 -5.33440169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.72, Y:-26.70, Z:-5.34 [[ 9.96470244e-01 8.37204354e-02 6.15963135e-03 2.20721766e+02] [-8.37188044e-02 9.96489282e-01 -5.22604462e-04 -2.66957664e+01] [-6.18175929e-03 5.08282350e-06 9.99980893e-01 -5.33536791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.75, Y:-26.70, Z:-5.34 [[ 9.96659374e-01 8.13349733e-02 7.39685853e-03 2.20753553e+02] [-8.13325368e-02 9.96686822e-01 -6.30110432e-04 -2.67020606e+01] [-7.42360143e-03 2.64002009e-05 9.99972444e-01 -5.33593838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.79, Y:-26.71, Z:-5.34 [[ 9.96750986e-01 8.01783333e-02 7.67507226e-03 2.20786780e+02] [-8.01756652e-02 9.96780534e-01 -6.55182377e-04 -2.67062870e+01] [-7.70289405e-03 3.76996567e-05 9.99970332e-01 -5.33672969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:-26.71, Z:-5.34 [[ 9.96837210e-01 7.91456615e-02 7.17915332e-03 2.20819172e+02] [-7.91432924e-02 9.96863061e-01 -6.13933339e-04 -2.67104248e+01] [-7.20522292e-03 4.38097663e-05 9.99974041e-01 -5.33761914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.85, Y:-26.71, Z:-5.34 [[ 9.96817697e-01 7.94074143e-02 6.99579493e-03 2.20852055e+02] [-7.94051626e-02 9.96842245e-01 -5.99465483e-04 -2.67140309e+01] [-7.02130593e-03 4.20555678e-05 9.99975349e-01 -5.33820048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:-26.72, Z:-5.34 [[ 9.96742090e-01 8.03386390e-02 7.13502994e-03 2.20884042e+02] [-8.03363083e-02 9.96767627e-01 -6.13123779e-04 -2.67178859e+01] [-7.16122439e-03 3.79243118e-05 9.99974357e-01 -5.33880670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:-26.72, Z:-5.34 [[ 9.96624856e-01 8.18424247e-02 6.38081036e-03 2.20916939e+02] [-8.18405881e-02 9.96645281e-01 -5.48841159e-04 -2.67236100e+01] [-6.40432303e-03 2.47794685e-05 9.99979492e-01 -5.33936807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.95, Y:-26.73, Z:-5.34 [[ 9.96545739e-01 8.28064212e-02 6.29969378e-03 2.20949033e+02] [-8.28046350e-02 9.96565651e-01 -5.44285491e-04 -2.67280852e+01] [-6.32312876e-03 2.07615434e-05 9.99980009e-01 -5.34053546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.98, Y:-26.73, Z:-5.34 [[ 9.96482476e-01 8.35432843e-02 6.57228092e-03 2.20982014e+02] [-8.35413574e-02 9.96504149e-01 -5.67655363e-04 -2.67330179e+01] [-6.59672900e-03 1.66013519e-05 9.99978241e-01 -5.34183162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.01, Y:-26.74, Z:-5.34 [[ 9.96459130e-01 8.38295060e-02 6.46651603e-03 2.21014951e+02] [-8.38276393e-02 9.96480112e-01 -5.59648653e-04 -2.67357415e+01] [-6.49066969e-03 1.55942367e-05 9.99978935e-01 -5.34271400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.05, Y:-26.74, Z:-5.34 [[ 9.96440637e-01 8.40885473e-02 5.93074764e-03 2.21047227e+02] [-8.40869756e-02 9.96458286e-01 -5.14308201e-04 -2.67383831e+01] [-5.95299006e-03 1.37789594e-05 9.99982281e-01 -5.34463689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.08, Y:-26.74, Z:-5.35 [[ 9.96395693e-01 8.46561240e-02 5.38176989e-03 2.21079190e+02] [-8.46548347e-02 9.96410227e-01 -4.67324354e-04 -2.67417859e+01] [-5.40201243e-03 1.00471323e-05 9.99985409e-01 -5.34539782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:-26.75, Z:-5.35 [[ 9.96315430e-01 8.57030165e-02 3.24927740e-03 2.21112171e+02] [-8.57025565e-02 9.96320728e-01 -2.80787630e-04 -2.67466227e+01] [-3.26138677e-03 1.28166806e-06 9.99994682e-01 -5.34625547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.14, Y:-26.75, Z:-5.35 [[ 9.96282328e-01 8.61087454e-02 2.60885109e-03 2.21143975e+02] [-8.61084473e-02 9.96285744e-01 -2.26578999e-04 -2.67509962e+01] [-2.61867158e-03 1.09253644e-06 9.99996571e-01 -5.34687277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.18, Y:-26.76, Z:-5.35 [[ 9.96244585e-01 8.65401861e-02 2.74299591e-03 2.21176332e+02] [-8.65398607e-02 9.96248361e-01 -2.37331729e-04 -2.67553046e+01] [-2.75324391e-03 -9.38033781e-07 9.99996210e-01 -5.34739328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:-26.76, Z:-5.35 [[ 9.96228214e-01 8.67192303e-02 3.01998495e-03 2.21209029e+02] [-8.67188340e-02 9.96232792e-01 -2.62168198e-04 -2.67584561e+01] [-3.03134306e-03 -7.10217702e-07 9.99995405e-01 -5.34757439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.24, Y:-26.76, Z:-5.35 [[ 9.96182048e-01 8.72272955e-02 3.56729931e-03 2.21240694e+02] [-8.72267395e-02 9.96188435e-01 -3.11464023e-04 -2.67608189e+01] [-3.58087048e-03 -8.89019389e-07 9.99993589e-01 -5.35136227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:-26.77, Z:-5.35 [[ 9.96224355e-01 8.66887075e-02 4.70123144e-03 2.21273498e+02] [-8.66877254e-02 9.96235448e-01 -4.12642581e-04 -2.67665498e+01] [-4.71930486e-03 3.54552918e-06 9.99988864e-01 -5.34890471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.31, Y:-26.77, Z:-5.35 [[ 9.96230667e-01 8.65775561e-02 5.36522413e-03 2.21306212e+02] [-8.65762667e-02 9.96245114e-01 -4.72551756e-04 -2.67707341e+01] [-5.38599070e-03 6.26947554e-06 9.99985495e-01 -5.34948681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:-26.77, Z:-5.35 [[ 9.96234581e-01 8.65099411e-02 5.71757577e-03 2.21339283e+02] [-8.65084686e-02 9.96250987e-01 -5.04817795e-04 -2.67746283e+01] [-5.73981226e-03 8.29822042e-06 9.99983527e-01 -5.34972230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.37, Y:-26.78, Z:-5.35 [[ 9.96230072e-01 8.65555399e-02 5.81218201e-03 2.21371431e+02] [-8.65540105e-02 9.96247027e-01 -5.14617153e-04 -2.67782591e+01] [-5.83491202e-03 9.60942066e-06 9.99982977e-01 -5.35052102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.40, Y:-26.78, Z:-5.35 [[ 9.96223897e-01 8.65939894e-02 6.27916815e-03 2.21404064e+02] [-8.65921967e-02 9.96243685e-01 -5.57311186e-04 -2.67815733e+01] [-6.30384142e-03 1.14797573e-05 9.99980131e-01 -5.35114298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:-26.78, Z:-5.35 [[ 9.96210232e-01 8.66969351e-02 6.98672952e-03 2.21435581e+02] [-8.66947038e-02 9.96234732e-01 -6.22168020e-04 -2.67846733e+01] [-7.01436267e-03 1.40977018e-05 9.99975399e-01 -5.35189129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.47, Y:-26.79, Z:-5.35 [[ 9.96177538e-01 8.70875673e-02 6.78740786e-03 2.21468549e+02] [-8.70854641e-02 9.96200660e-01 -6.05357665e-04 -2.67888686e+01] [-6.81433932e-03 1.19591440e-05 9.99976782e-01 -5.35223103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:221.50, Y:-26.79, Z:-5.35 [[ 9.95977909e-01 8.92888626e-02 7.45012001e-03 2.21501414e+02] [-8.92863773e-02 9.96005773e-01 -6.66186285e-04 -2.67935668e+01] [-7.47984555e-03 -1.68740337e-06 9.99972026e-01 -5.35444798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.53, Y:-26.80, Z:-5.35 [[ 9.95881354e-01 9.03589386e-02 7.45597729e-03 2.21533844e+02] [-9.03564667e-02 9.95909264e-01 -6.68415059e-04 -2.67960431e+01] [-7.48587413e-03 -8.03366978e-06 9.99971980e-01 -5.35314386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.57, Y:-26.80, Z:-5.35 [[ 9.95629777e-01 9.31674822e-02 6.41625275e-03 2.21566286e+02] [-9.31657068e-02 9.95650451e-01 -5.75689829e-04 -2.67985450e+01] [-6.44198052e-03 -2.46007864e-05 9.99979250e-01 -5.35368744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.60, Y:-26.80, Z:-5.35 [[ 9.95483441e-01 9.46451361e-02 7.41731955e-03 2.21598815e+02] [-9.46427889e-02 9.95511073e-01 -6.67607649e-04 -2.68010295e+01] [-7.44720957e-03 -3.74034488e-05 9.99972268e-01 -5.35374363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.63, Y:-26.80, Z:-5.36 [[ 9.95327082e-01 9.61619140e-02 8.76846098e-03 2.21630557e+02] [-9.61586612e-02 9.95365703e-01 -7.92788056e-04 -2.68021058e+01] [-8.80406134e-03 -5.40800460e-05 9.99961242e-01 -5.35512527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.66, Y:-26.80, Z:-5.35 [[ 9.95148455e-01 9.78716070e-02 1.00350010e-02 2.21662485e+02] [-9.78674240e-02 9.95199047e-01 -9.08238330e-04 -2.68024411e+01] [-1.00757141e-02 -7.82677236e-05 9.99949236e-01 -5.35373539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:-26.80, Z:-5.35 [[ 9.94977799e-01 9.95383593e-02 1.05496136e-02 2.21695518e+02] [-9.95338104e-02 9.95033721e-01 -9.56660240e-04 -2.68022643e+01] [-1.05924457e-02 -9.81875429e-05 9.99943894e-01 -5.35411197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.73, Y:-26.80, Z:-5.35 [[ 9.94849413e-01 1.00770671e-01 1.09507208e-02 2.21727447e+02] [-1.00765809e-01 9.94909674e-01 -9.96191247e-04 -2.68027211e+01] [-1.09953649e-02 -1.12397963e-04 9.99939543e-01 -5.35466726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:-26.80, Z:-5.36 [[ 9.94718192e-01 1.02049784e-01 1.10254446e-02 2.21759460e+02] [-1.02044919e-01 9.94779285e-01 -1.00439427e-03 -2.68034419e+01] [-1.10703821e-02 -1.26001353e-04 9.99938714e-01 -5.35570399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:-26.80, Z:-5.36 [[ 9.94472407e-01 1.04491799e-01 1.03002386e-02 2.21792458e+02] [-1.04487682e-01 9.94525738e-01 -9.38474174e-04 -2.68017618e+01] [-1.03419153e-02 -1.42961390e-04 9.99946511e-01 -5.35657117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:-26.80, Z:-5.36 [[ 9.94356595e-01 1.05720679e-01 8.83744692e-03 2.21825430e+02] [-1.05717688e-01 9.94395857e-01 -8.06161962e-04 -2.68019818e+01] [-8.87314860e-03 -1.32661996e-04 9.99960624e-01 -5.35788206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:-26.80, Z:-5.36 [[ 9.94178624e-01 1.07570436e-01 6.12086848e-03 2.21857324e+02] [-1.07569036e-01 9.94197461e-01 -5.58412441e-04 -2.67990113e+01] [-6.14542056e-03 -1.03254210e-04 9.99981111e-01 -5.36052242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:221.89, Y:-26.80, Z:-5.36 [[ 9.94092916e-01 1.08388885e-01 5.57882379e-03 2.21890156e+02] [-1.08387732e-01 9.94108566e-01 -5.09422524e-04 -2.67989916e+01] [-5.60117225e-03 -9.82627360e-05 9.99984308e-01 -5.36481040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.92, Y:-26.80, Z:-5.36 [[ 9.94137335e-01 1.08000933e-01 5.17287213e-03 2.21923490e+02] [-1.07999933e-01 9.94150789e-01 -4.72969215e-04 -2.67963788e+01] [-5.19369603e-03 -8.84734895e-05 9.99986509e-01 -5.36317764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.96, Y:-26.80, Z:-5.36 [[ 9.94204772e-01 1.07385628e-01 5.01973987e-03 2.21955134e+02] [-1.07384673e-01 9.94217441e-01 -4.60039960e-04 -2.67964726e+01] [-5.04011461e-03 -8.16692017e-05 9.99987295e-01 -5.36381855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.99, Y:-26.79, Z:-5.36 [[ 9.94461428e-01 1.04998342e-01 4.67072065e-03 2.21988145e+02] [-1.04997488e-01 9.94472395e-01 -4.28427748e-04 -2.67941212e+01] [-4.68988695e-03 -6.43590632e-05 9.99989000e-01 -5.36424243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:-26.80, Z:-5.37 [[ 9.94652552e-01 1.03170393e-01 4.70862171e-03 2.22021265e+02] [-1.03169500e-01 9.94663695e-01 -4.32824383e-04 -2.67952620e+01] [-4.72814973e-03 -5.52762718e-05 9.99988821e-01 -5.36547720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.05, Y:-26.80, Z:-5.37 [[ 9.95130240e-01 9.84271518e-02 5.28220297e-03 2.22053801e+02] [-9.84259517e-02 9.95144258e-01 -4.87301162e-04 -2.67960571e+01] [-5.30451762e-03 -3.49777327e-05 9.99985930e-01 -5.36620125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:-26.80, Z:-5.37 [[ 9.95393406e-01 9.56925528e-02 5.90780953e-03 2.22086535e+02] [-9.56909953e-02 9.95410938e-01 -5.46383361e-04 -2.67982829e+01] [-5.93298305e-03 -2.14577794e-05 9.99982399e-01 -5.36658912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.12, Y:-26.80, Z:-5.37 [[ 9.95923321e-01 8.99371265e-02 6.93193896e-03 2.22119991e+02] [-8.99348288e-02 9.95947445e-01 -6.43113853e-04 -2.67976380e+01] [-6.96168671e-03 1.70693415e-05 9.99975767e-01 -5.36697795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.15, Y:-26.80, Z:-5.37 [[ 9.96169561e-01 8.71608251e-02 7.01398451e-03 2.22153048e+02] [-8.71583943e-02 9.96194253e-01 -6.52073808e-04 -2.67985547e+01] [-7.04412635e-03 3.82484522e-05 9.99975189e-01 -5.36828422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.19, Y:-26.80, Z:-5.37 [[ 9.96162363e-01 8.72430740e-02 7.01370739e-03 2.22186381e+02] [-8.72406244e-02 9.96187053e-01 -6.55035717e-04 -2.68018195e+01] [-7.04411182e-03 4.06417165e-05 9.99975189e-01 -5.36904847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:-26.80, Z:-5.37 [[ 9.96390940e-01 8.46407740e-02 6.40577278e-03 2.22218610e+02] [-8.46386843e-02 9.96411530e-01 -5.97099213e-04 -2.68038632e+01] [-6.43332479e-03 5.27680661e-05 9.99979305e-01 -5.37039630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.25, Y:-26.81, Z:-5.37 [[ 9.96792835e-01 7.97999428e-02 6.00112194e-03 2.22251468e+02] [-7.97980181e-02 9.96810896e-01 -5.59863913e-04 -2.68079841e+01] [-6.02666085e-03 7.91906995e-05 9.99981836e-01 -5.37157982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.28, Y:-26.81, Z:-5.37 [[ 9.96896780e-01 7.84715112e-02 6.24754680e-03 2.22283472e+02] [-7.84693889e-02 9.96916352e-01 -5.84488857e-04 -2.68121586e+01] [-6.27414730e-03 9.24338796e-05 9.99980313e-01 -5.37238062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.32, Y:-26.82, Z:-5.37 [[ 9.96992389e-01 7.73555536e-02 4.72181540e-03 2.22315741e+02] [-7.73543301e-02 9.97003567e-01 -4.41474566e-04 -2.68175282e+01] [-4.74181731e-03 7.48939147e-05 9.99988755e-01 -5.37312387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:222.35, Y:-26.82, Z:-5.38 [[ 9.96942958e-01 7.80622670e-02 3.31979318e-03 2.22348123e+02] [-7.80616683e-02 9.96948484e-01 -3.09729372e-04 -2.68204567e+01] [-3.33384096e-03 4.96339224e-05 9.99994442e-01 -5.37700700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.38, Y:-26.82, Z:-5.38 [[ 9.96670812e-01 8.14910549e-02 2.54951193e-03 2.22380512e+02] [-8.14907137e-02 9.96674073e-01 -2.37594369e-04 -2.68216226e+01] [-2.56039425e-03 2.90418267e-05 9.99996722e-01 -5.37580457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.41, Y:-26.82, Z:-5.38 [[ 9.96226500e-01 8.67352865e-02 3.12255500e-03 2.22413718e+02] [-8.67347971e-02 9.96231394e-01 -2.92051609e-04 -2.68246044e+01] [-3.13611850e-03 2.01153786e-05 9.99995082e-01 -5.37600262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.45, Y:-26.83, Z:-5.38 [[ 9.95983426e-01 8.94441930e-02 4.09276338e-03 2.22445826e+02] [-8.94433603e-02 9.95991835e-01 -3.86408200e-04 -2.68280689e+01] [-4.11092088e-03 1.87856542e-05 9.99991550e-01 -5.37607216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.48, Y:-26.83, Z:-5.38 [[ 9.95746616e-01 9.19731489e-02 5.44210240e-03 2.22478675e+02] [-9.19717133e-02 9.95761487e-01 -5.14003869e-04 -2.68309361e+01] [-5.46631054e-03 1.12981312e-05 9.99985060e-01 -5.37611581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:-26.83, Z:-5.38 [[ 9.95349498e-01 9.61394912e-02 6.04767558e-03 2.22510546e+02] [-9.61377830e-02 9.95367871e-01 -5.73200599e-04 -2.68329458e+01] [-6.07476918e-03 -1.08751942e-05 9.99981548e-01 -5.37654401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.54, Y:-26.84, Z:-5.38 [[ 9.95137304e-01 9.83633509e-02 5.13780967e-03 2.22543588e+02] [-9.83621467e-02 9.95150567e-01 -4.87151597e-04 -2.68356640e+01] [-5.16081207e-03 -2.05832617e-05 9.99986683e-01 -5.38053256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:-26.84, Z:-5.38 [[ 9.94825937e-01 1.01468191e-01 5.05574947e-03 2.22576560e+02] [-1.01467060e-01 9.94838783e-01 -4.80312882e-04 -2.68375075e+01] [-5.07839213e-03 -3.51643240e-05 9.99987104e-01 -5.37985831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:-26.84, Z:-5.38 [[ 9.94651133e-01 1.03150885e-01 5.38680269e-03 2.22608086e+02] [-1.03149617e-01 9.94665719e-01 -5.13374634e-04 -2.68401703e+01] [-5.41102302e-03 -4.50179728e-05 9.99985359e-01 -5.38063552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.64, Y:-26.84, Z:-5.38 [[ 9.94300874e-01 1.06420098e-01 6.36666057e-03 2.22641181e+02] [-1.06418383e-01 9.94321255e-01 -6.08498863e-04 -2.68411475e+01] [-6.39526243e-03 -7.24987714e-05 9.99979547e-01 -5.38091618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.67, Y:-26.84, Z:-5.38 [[ 9.94103630e-01 1.08196075e-01 7.18208264e-03 2.22673493e+02] [-1.08193923e-01 9.94129569e-01 -6.88629964e-04 -2.68426932e+01] [-7.21442778e-03 -9.24881473e-05 9.99973971e-01 -5.38122028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.71, Y:-26.84, Z:-5.38 [[ 9.93929752e-01 1.09768608e-01 7.38251573e-03 2.22706145e+02] [-1.09766367e-01 9.93957163e-01 -7.09365889e-04 -2.68443087e+01] [-7.41577050e-03 -1.05292067e-04 9.99972497e-01 -5.38131920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.74, Y:-26.84, Z:-5.38 [[ 9.93696474e-01 1.11927111e-01 6.29595229e-03 2.22739765e+02] [-1.11925522e-01 9.93716414e-01 -6.05290280e-04 -2.68441381e+01] [-6.32413952e-03 -1.03202927e-04 9.99979997e-01 -5.38270335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.77, Y:-26.85, Z:-5.38 [[ 9.93659666e-01 1.12271764e-01 5.95978641e-03 2.22771322e+02] [-1.12270333e-01 9.93677534e-01 -5.75109328e-04 -2.68454800e+01] [-5.98667440e-03 -9.76442638e-05 9.99982075e-01 -5.38432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.80, Y:-26.85, Z:-5.39 [[ 9.93925331e-01 1.09884400e-01 6.15262388e-03 2.22803798e+02] [-1.09882832e-01 9.93944370e-01 -5.93287049e-04 -2.68483096e+01] [-6.18055886e-03 -8.63847095e-05 9.99980896e-01 -5.38553595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.84, Y:-26.85, Z:-5.39 [[ 9.94196571e-01 1.07398722e-01 6.22034953e-03 2.22836366e+02] [-1.07397063e-01 9.94216028e-01 -6.01049105e-04 -2.68520139e+01] [-6.24892310e-03 -7.04863126e-05 9.99980473e-01 -5.38625288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:-26.86, Z:-5.39 [[ 9.94853934e-01 1.01125260e-01 6.27147331e-03 2.22868546e+02] [-1.01123439e-01 9.94873701e-01 -6.07488669e-04 -2.68555529e+01] [-6.30075631e-03 -2.98304584e-05 9.99980150e-01 -5.38721089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.90, Y:-26.86, Z:-5.39 [[ 9.95198775e-01 9.76884456e-02 6.03042253e-03 2.22901713e+02] [-9.76866948e-02 9.95217045e-01 -5.84902664e-04 -2.68592391e+01] [-6.05871753e-03 -6.99763039e-06 9.99981646e-01 -5.38754707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.93, Y:-26.86, Z:-5.39 [[ 9.95856094e-01 9.07818382e-02 5.41278411e-03 2.22934288e+02] [-9.07803227e-02 9.95870803e-01 -5.25514472e-04 -2.68648841e+01] [-5.43814083e-03 3.19625009e-05 9.99985213e-01 -5.38875980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.97, Y:-26.87, Z:-5.39 [[ 9.96098730e-01 8.81034860e-02 5.00964126e-03 2.22967283e+02] [-8.81021507e-02 9.96111326e-01 -4.87037957e-04 -2.68697198e+01] [-5.03307014e-03 4.37777209e-05 9.99987333e-01 -5.39001779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:-26.88, Z:-5.39 [[ 9.96496297e-01 8.35303287e-02 4.22072196e-03 2.22998377e+02] [-8.35293382e-02 9.96505234e-01 -4.10725372e-04 -2.68764987e+01] [-4.24027955e-03 5.67321996e-05 9.99991008e-01 -5.39062225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.03, Y:-26.88, Z:-5.39 [[ 9.96596292e-01 8.22823745e-02 5.04396238e-03 2.23031499e+02] [-8.22809354e-02 9.96609053e-01 -4.92512952e-04 -2.68811866e+01] [-5.06738371e-03 7.58146383e-05 9.99987158e-01 -5.39035901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.06, Y:-26.88, Z:-5.39 [[ 9.96609686e-01 8.20313839e-02 6.32340433e-03 2.23062903e+02] [-8.20291008e-02 9.96629742e-01 -6.20005065e-04 -2.68847868e+01] [-6.35295270e-03 9.91998826e-05 9.99979815e-01 -5.39068134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:-26.89, Z:-5.39 [[ 9.96477935e-01 8.35548485e-02 7.09315894e-03 2.23095195e+02] [-8.35520020e-02 9.96503175e-01 -6.97205644e-04 -2.68893082e+01] [-7.12661032e-03 1.02102410e-04 9.99974600e-01 -5.39135008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:-26.89, Z:-5.39 [[ 9.96371899e-01 8.48161166e-02 7.01895880e-03 2.23127774e+02] [-8.48133530e-02 9.96396617e-01 -6.90995368e-04 -2.68947514e+01] [-7.05227435e-03 9.31869367e-05 9.99975128e-01 -5.39172592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.16, Y:-26.90, Z:-5.39 [[ 9.96139416e-01 8.74111824e-02 8.09618524e-03 2.23160701e+02] [-8.74075723e-02 9.96172313e-01 -7.99359293e-04 -2.69019502e+01] [-8.13506852e-03 8.86054027e-05 9.99966906e-01 -5.39156377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:-26.91, Z:-5.39 [[ 9.96018206e-01 8.87617884e-02 8.31131412e-03 2.23192741e+02] [-8.87580145e-02 9.96052879e-01 -8.22552987e-04 -2.69066172e+01] [-8.35151963e-03 8.15820113e-05 9.99965122e-01 -5.39234637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.22, Y:-26.91, Z:-5.39 [[ 9.95828491e-01 9.08991330e-02 7.93495579e-03 2.23224024e+02] [-9.08957505e-02 9.95860103e-01 -7.86621910e-04 -2.69125541e+01] [-7.97360913e-03 6.20867479e-05 9.99968208e-01 -5.39315285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.26, Y:-26.92, Z:-5.39 [[ 9.95732362e-01 9.19723411e-02 7.62570909e-03 2.23256124e+02] [-9.19692385e-02 9.95761561e-01 -7.57282096e-04 -2.69170109e+01] [-7.66303700e-03 5.27196324e-05 9.99970637e-01 -5.39428045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.29, Y:-26.92, Z:-5.40 [[ 9.95571435e-01 9.36894983e-02 7.73276276e-03 2.23288360e+02] [-9.36863504e-02 9.95601465e-01 -7.69112124e-04 -2.69249834e+01] [-7.77080766e-03 4.12517390e-05 9.99969806e-01 -5.39590213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:-26.93, Z:-5.40 [[ 9.95491220e-01 9.45078490e-02 8.09307647e-03 2.23320749e+02] [-9.45044141e-02 9.95524116e-01 -8.06665647e-04 -2.69320816e+01] [-8.13308903e-03 3.81971192e-05 9.99966925e-01 -5.39632535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.35, Y:-26.94, Z:-5.40 [[ 9.95405531e-01 9.53905486e-02 8.27484751e-03 2.23352195e+02] [-9.53869646e-02 9.95439924e-01 -8.27601229e-04 -2.69414433e+01] [-8.31605891e-03 3.44862541e-05 9.99965420e-01 -5.39633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:-26.95, Z:-5.40 [[ 9.95306795e-01 9.64090814e-02 8.34698633e-03 2.23383796e+02] [-9.64054688e-02 9.95341795e-01 -8.35024129e-04 -2.69471730e+01] [-8.38860826e-03 2.64100599e-05 9.99964815e-01 -5.39724771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:-26.96, Z:-5.40 [[ 9.95037989e-01 9.92643913e-02 6.78096030e-03 2.23416157e+02] [-9.92620719e-02 9.95061094e-01 -6.78577689e-04 -2.69567428e+01] [-6.81482837e-03 2.11841007e-06 9.99976779e-01 -5.39737643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:-26.96, Z:-5.40 [[ 9.94869221e-01 1.00978538e-01 6.21028350e-03 2.23448169e+02] [-1.00976620e-01 9.94888604e-01 -6.22538845e-04 -2.69626558e+01] [-6.24140334e-03 -7.74869816e-06 9.99980522e-01 -5.39893107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.48, Y:-26.97, Z:-5.40 [[ 9.94482973e-01 1.04737806e-01 5.79729770e-03 2.23479214e+02] [-1.04736193e-01 9.94499870e-01 -5.82014038e-04 -2.69690945e+01] [-5.82637068e-03 -2.83838401e-05 9.99983026e-01 -5.40030622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:-26.97, Z:-5.40 [[ 9.94263386e-01 1.06805756e-01 5.73150832e-03 2.23512071e+02] [-1.06804209e-01 9.94279905e-01 -5.76213421e-04 -2.69744882e+01] [-5.76026645e-03 -3.92413077e-05 9.99983409e-01 -5.40152381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.54, Y:-26.98, Z:-5.40 [[ 9.93884494e-01 1.10234315e-01 6.48141749e-03 2.23543046e+02] [-1.10232396e-01 9.93905625e-01 -6.53614528e-04 -2.69826968e+01] [-6.51396806e-03 -6.48448373e-05 9.99978782e-01 -5.40228013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.58, Y:-26.99, Z:-5.40 [[ 9.93714753e-01 1.11675946e-01 7.71186056e-03 2.23576173e+02] [-1.11673258e-01 9.93744673e-01 -7.79668219e-04 -2.69880145e+01] [-7.75069054e-03 -8.64407810e-05 9.99969959e-01 -5.40252419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.61, Y:-26.99, Z:-5.40 [[ 9.93551846e-01 1.13029519e-01 8.89145533e-03 2.23608038e+02] [-1.13025970e-01 9.93591624e-01 -9.02235687e-04 -2.69927820e+01] [-8.93645481e-03 -1.08547433e-04 9.99960063e-01 -5.40261619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:-27.00, Z:-5.40 [[ 9.93350740e-01 1.14748422e-01 9.33314981e-03 2.23639561e+02] [-1.14744583e-01 9.93394576e-01 -9.47526206e-04 -2.69997258e+01] [-9.38022753e-03 -1.29702523e-04 9.99955996e-01 -5.40220063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.67, Y:-27.00, Z:-5.40 [[ 9.93250571e-01 1.15657028e-01 8.76104245e-03 2.23672627e+02] [-1.15653670e-01 9.93289200e-01 -8.90583855e-04 -2.70040764e+01] [-8.80525113e-03 -1.28673793e-04 9.99961225e-01 -5.40263346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:-27.01, Z:-5.40 [[ 9.93087264e-01 1.17208741e-01 6.30845880e-03 2.23705524e+02] [-1.17207031e-01 9.93107296e-01 -6.41269292e-04 -2.70090217e+01] [-6.34013883e-03 -1.02559361e-04 9.99979896e-01 -5.40477997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.74, Y:-27.01, Z:-5.41 [[ 9.93012642e-01 1.17884077e-01 5.40711313e-03 2.23738344e+02] [-1.17882829e-01 9.93027359e-01 -5.50054921e-04 -2.70144442e+01] [-5.43425399e-03 -9.11943027e-05 9.99985230e-01 -5.40727389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.77, Y:-27.02, Z:-5.41 [[ 9.92998296e-01 1.18038734e-01 4.60889206e-03 2.23770117e+02] [-1.18037827e-01 9.93008988e-01 -4.69312293e-04 -2.70199117e+01] [-4.63206827e-03 -7.79972960e-05 9.99989269e-01 -5.40862579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:-27.03, Z:-5.41 [[ 9.93007378e-01 1.17885750e-01 6.26873440e-03 2.23802267e+02] [-1.17884055e-01 9.93027159e-01 -6.40525016e-04 -2.70261149e+01] [-6.30053228e-03 -1.02937762e-04 9.99980146e-01 -5.40973100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.84, Y:-27.03, Z:-5.41 [[ 9.93009469e-01 1.17804380e-01 7.37036568e-03 2.23835211e+02] [-1.17802018e-01 9.93036814e-01 -7.55230527e-04 -2.70306046e+01] [-7.40801392e-03 -1.18292889e-04 9.99972553e-01 -5.40994968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.87, Y:-27.04, Z:-5.41 [[ 9.92994627e-01 1.17819658e-01 8.95536268e-03 2.23866751e+02] [-1.17816148e-01 9.93034998e-01 -9.20425440e-04 -2.70356411e+01] [-9.00143278e-03 -1.41108814e-04 9.99959476e-01 -5.40870388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.90, Y:-27.04, Z:-5.41 [[ 9.92939724e-01 1.18307166e-01 8.60920791e-03 2.23899729e+02] [-1.18303930e-01 9.92977037e-01 -8.86036833e-04 -2.70395419e+01] [-8.65357026e-03 -1.38721957e-04 9.99962548e-01 -5.40886007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.93, Y:-27.04, Z:-5.41 [[ 9.92795231e-01 1.19633070e-01 6.74959648e-03 2.23932799e+02] [-1.19631109e-01 9.92818168e-01 -6.95014269e-04 -2.70435811e+01] [-6.78426870e-03 -1.17454858e-04 9.99976980e-01 -5.41021530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.96, Y:-27.05, Z:-5.41 [[ 9.92665622e-01 1.20718935e-01 6.47308955e-03 2.23964455e+02] [-1.20717140e-01 9.92686720e-01 -6.68705598e-04 -2.70469889e+01] [-6.50647546e-03 -1.17611799e-04 9.99978826e-01 -5.41155321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:-27.05, Z:-5.41 [[ 9.92506105e-01 1.22021165e-01 6.51665442e-03 2.23997563e+02] [-1.22019378e-01 9.92527490e-01 -6.72683735e-04 -2.70502068e+01] [-6.55004031e-03 -1.27515402e-04 9.99978540e-01 -5.41252950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.03, Y:-27.05, Z:-5.41 [[ 9.92146312e-01 1.24829766e-01 7.95140583e-03 2.24030906e+02] [-1.24827175e-01 9.92178159e-01 -8.23264781e-04 -2.70522301e+01] [-7.99197914e-03 -1.75752412e-04 9.99968048e-01 -5.41375327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:-27.05, Z:-5.41 [[ 9.91976518e-01 1.26134368e-01 8.52692040e-03 2.24062611e+02] [-1.26131418e-01 9.92013146e-01 -8.85062553e-04 -2.70547162e+01] [-8.57045394e-03 -1.97551287e-04 9.99963253e-01 -5.41439887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.10, Y:-27.06, Z:-5.41 [[ 9.91822640e-01 1.27362158e-01 8.16895653e-03 2.24095363e+02] [-1.27359481e-01 9.91856261e-01 -8.49111516e-04 -2.70561086e+01] [-8.21057535e-03 -1.98226041e-04 9.99966273e-01 -5.41465301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:-27.06, Z:-5.42 [[ 9.91851279e-01 1.27162951e-01 7.78612222e-03 2.24127851e+02] [-1.27160504e-01 9.91881822e-01 -8.10625119e-04 -2.70586429e+01] [-7.82599458e-03 -1.86067664e-04 9.99969359e-01 -5.41576128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.16, Y:-27.06, Z:-5.42 [[ 9.91978231e-01 1.26200853e-01 7.24806031e-03 2.24159677e+02] [-1.26198697e-01 9.92004696e-01 -7.55891713e-04 -2.70613772e+01] [-7.28550405e-03 -1.64867645e-04 9.99973447e-01 -5.41659866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.19, Y:-27.06, Z:-5.42 [[ 9.92356529e-01 1.23161462e-01 7.73134899e-03 2.24193126e+02] [-1.23158905e-01 9.92386634e-01 -8.07747695e-04 -2.70622042e+01] [-7.77197079e-03 -1.50610779e-04 9.99969786e-01 -5.42154244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:224.23, Y:-27.07, Z:-5.42 [[ 9.92346228e-01 1.23244448e-01 7.73102705e-03 2.24226416e+02] [-1.23241870e-01 9.92376332e-01 -8.10813110e-04 -2.70658370e+01] [-7.77201648e-03 -1.48178902e-04 9.99969786e-01 -5.42230682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.26, Y:-27.07, Z:-5.42 [[ 9.92508803e-01 1.21903414e-01 8.11378076e-03 2.24258105e+02] [-1.21900535e-01 9.92541957e-01 -8.50348401e-04 -2.70679262e+01] [-8.15692820e-03 -1.45095940e-04 9.99966721e-01 -5.41845568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:-27.07, Z:-5.42 [[ 9.92764582e-01 1.19814292e-01 7.93848959e-03 2.24290816e+02] [-1.19811460e-01 9.92796314e-01 -8.33043203e-04 -2.70706193e+01] [-7.98111368e-03 -1.24106240e-04 9.99968143e-01 -5.41886081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.32, Y:-27.07, Z:-5.42 [[ 9.92783598e-01 1.19663451e-01 7.83498911e-03 2.24323063e+02] [-1.19660674e-01 9.92814506e-01 -8.23871526e-04 -2.70733918e+01] [-7.87727816e-03 -1.19613942e-04 9.99968967e-01 -5.41954585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.35, Y:-27.07, Z:-5.42 [[ 9.92758424e-01 1.19857062e-01 8.06208591e-03 2.24354795e+02] [-1.19854115e-01 9.92791151e-01 -8.49431923e-04 -2.70747408e+01] [-8.10577796e-03 -1.22993475e-04 9.99967140e-01 -5.42081465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.39, Y:-27.07, Z:-5.42 [[ 9.92708318e-01 1.20210988e-01 8.91709420e-03 2.24388051e+02] [-1.20207380e-01 9.92748357e-01 -9.41453731e-04 -2.70739747e+01] [-8.96560369e-03 -1.37311580e-04 9.99959799e-01 -5.42162929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.42, Y:-27.08, Z:-5.42 [[ 9.92702228e-01 1.20174940e-01 1.00135547e-02 2.24421443e+02] [-1.20170363e-01 9.92752719e-01 -1.05963308e-03 -2.70762694e+01] [-1.00683250e-02 -1.51432385e-04 9.99949302e-01 -5.42169614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.45, Y:-27.08, Z:-5.42 [[ 9.92778682e-01 1.19475966e-01 1.07694971e-02 2.24454753e+02] [-1.19470608e-01 9.92837081e-01 -1.14185181e-03 -2.70755950e+01] [-1.08287800e-02 -1.53032237e-04 9.99941355e-01 -5.42191867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.49, Y:-27.08, Z:-5.42 [[ 9.92820615e-01 1.19209405e-01 9.81550247e-03 2.24486581e+02] [-1.19204915e-01 9.92869125e-01 -1.04323102e-03 -2.70759893e+01] [-9.86987230e-03 -1.34314883e-04 9.99951283e-01 -5.42292163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.52, Y:-27.08, Z:-5.42 [[ 9.92849199e-01 1.19037043e-01 8.98055229e-03 2.24518200e+02] [-1.19033278e-01 9.92889806e-01 -9.54555969e-04 -2.70768319e+01] [-9.03032635e-03 -1.21254448e-04 9.99959218e-01 -5.42437545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:-27.08, Z:-5.43 [[ 9.93030197e-01 1.17666006e-01 6.76304377e-03 2.24551400e+02] [-1.17663838e-01 9.93053223e-01 -7.18844264e-04 -2.70774180e+01] [-6.80064595e-03 -8.19316273e-05 9.99976872e-01 -5.42657339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:224.58, Y:-27.08, Z:-5.43 [[ 9.93124186e-01 1.16885939e-01 6.48298943e-03 2.24584346e+02] [-1.16883923e-01 9.93145343e-01 -6.90167315e-04 -2.70794566e+01] [-6.51922161e-03 -7.23353879e-05 9.99978747e-01 -5.43200128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.62, Y:-27.08, Z:-5.43 [[ 9.93255676e-01 1.15748211e-01 6.74634456e-03 2.24616058e+02] [-1.15745991e-01 9.93278585e-01 -7.19936590e-04 -2.70813996e+01] [-6.78433095e-03 -6.57812299e-05 9.99976984e-01 -5.42841076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:-27.08, Z:-5.43 [[ 9.93560218e-01 1.13035841e-01 7.80970216e-03 2.24649388e+02] [-1.13032766e-01 9.93590910e-01 -8.35425966e-04 -2.70827699e+01] [-7.85408215e-03 -5.27062358e-05 9.99969155e-01 -5.42778666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:224.68, Y:-27.09, Z:-5.43 [[ 9.93684619e-01 1.11903071e-01 8.28135490e-03 2.24682497e+02] [-1.11899559e-01 9.93719126e-01 -8.87715135e-04 -2.70858383e+01] [-8.32867880e-03 -4.45710869e-05 9.99965315e-01 -5.43256901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:-27.09, Z:-5.43 [[ 9.93839049e-01 1.10553345e-01 7.86779733e-03 2.24715799e+02] [-1.10550124e-01 9.93870191e-01 -8.44472222e-04 -2.70889258e+01] [-7.91292846e-03 -3.05164966e-05 9.99968692e-01 -5.42819229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.75, Y:-27.09, Z:-5.43 [[ 9.94077329e-01 1.08464097e-01 6.76790754e-03 2.24748046e+02] [-1.08461652e-01 9.94100367e-01 -7.28370753e-04 -2.70892422e+01] [-6.80698144e-03 -1.00015793e-05 9.99976832e-01 -5.42945093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:-27.09, Z:-5.43 [[ 9.94182259e-01 1.07565197e-01 5.60045005e-03 2.24781044e+02] [-1.07563514e-01 9.94198033e-01 -6.01728517e-04 -2.70916669e+01] [-5.63268147e-03 -4.17627231e-06 9.99984136e-01 -5.43107734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.81, Y:-27.09, Z:-5.43 [[ 9.94247075e-01 1.06927294e-01 6.26956623e-03 2.24812725e+02] [-1.06925159e-01 9.94266842e-01 -6.75602661e-04 -2.70936462e+01] [-6.30586219e-03 1.34160225e-06 9.99980118e-01 -5.43219804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.85, Y:-27.10, Z:-5.43 [[ 9.94189962e-01 1.07361961e-01 7.72839037e-03 2.24845913e+02] [-1.07358713e-01 9.94220001e-01 -8.35099475e-04 -2.70960621e+01] [-7.77337820e-03 5.37472778e-07 9.99969787e-01 -5.43238240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.88, Y:-27.10, Z:-5.43 [[ 9.94107469e-01 1.08027781e-01 8.96319918e-03 2.24877700e+02] [-1.08023416e-01 9.94147876e-01 -9.71128001e-04 -2.70980497e+01] [-9.01565423e-03 -2.82979539e-06 9.99959358e-01 -5.43267403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:-27.10, Z:-5.43 [[ 9.93862508e-01 1.10255375e-01 9.00376854e-03 2.24909173e+02] [-1.10251047e-01 9.93903291e-01 -9.77180275e-04 -2.71000824e+01] [-9.05661456e-03 -2.14920673e-05 9.99958988e-01 -5.43294428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.94, Y:-27.10, Z:-5.43 [[ 9.93731562e-01 1.11496654e-01 8.12886410e-03 2.24942518e+02] [-1.11493162e-01 9.93764809e-01 -8.82993340e-04 -2.71030989e+01] [-8.17662989e-03 -2.88544090e-05 9.99966570e-01 -5.43405410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.97, Y:-27.10, Z:-5.44 [[ 9.93486370e-01 1.13697688e-01 7.59392276e-03 2.24974383e+02] [-1.13694693e-01 9.93515392e-01 -8.26279279e-04 -2.71032504e+01] [-7.63862519e-03 -4.24915177e-05 9.99970824e-01 -5.43961226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:-27.11, Z:-5.44 [[ 9.93384371e-01 1.14578231e-01 7.70201230e-03 2.25007624e+02] [-1.14575168e-01 9.93414227e-01 -8.39221371e-04 -2.71058360e+01] [-7.74744509e-03 -4.87899584e-05 9.99969987e-01 -5.43644794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.04, Y:-27.11, Z:-5.44 [[ 9.93245016e-01 1.15753297e-01 8.09402084e-03 2.25039677e+02] [-1.15749936e-01 9.93277993e-01 -8.84009052e-04 -2.71087776e+01] [-8.14193974e-03 -5.88448125e-05 9.99966852e-01 -5.43717389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.07, Y:-27.11, Z:-5.44 [[ 9.93075677e-01 1.17161739e-01 8.59228631e-03 2.25071271e+02] [-1.17157980e-01 9.93112844e-01 -9.41267591e-04 -2.71115485e+01] [-8.64339045e-03 -7.19049592e-05 9.99962643e-01 -5.43734871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.10, Y:-27.12, Z:-5.44 [[ 9.92980011e-01 1.17993261e-01 8.26370898e-03 2.25104134e+02] [-1.17989814e-01 9.93014393e-01 -9.05212031e-04 -2.71162163e+01] [-8.31279088e-03 -7.61760302e-05 9.99965445e-01 -5.43777631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:-27.12, Z:-5.44 [[ 9.92957900e-01 1.18208757e-01 7.82933300e-03 2.25136878e+02] [-1.18205660e-01 9.92988764e-01 -8.58788377e-04 -2.71189517e+01] [-7.87595600e-03 -7.27307701e-05 9.99968982e-01 -5.43841441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.17, Y:-27.12, Z:-5.44 [[ 9.92881839e-01 1.18825625e-01 8.13165534e-03 2.25169105e+02] [-1.18822288e-01 9.92915135e-01 -8.93920708e-04 -2.71212422e+01] [-8.18026434e-03 -7.86642568e-05 9.99966538e-01 -5.43921983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:-27.12, Z:-5.44 [[ 9.92802337e-01 1.19478899e-01 8.26516756e-03 2.25201928e+02] [-1.19475463e-01 9.92836737e-01 -9.10057291e-04 -2.71240301e+01] [-8.31469463e-03 -8.39777129e-05 9.99965429e-01 -5.44005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.23, Y:-27.13, Z:-5.44 [[ 9.92671470e-01 1.20508740e-01 8.99983066e-03 2.25234312e+02] [-1.20504680e-01 9.92712261e-01 -9.94075853e-04 -2.71261747e+01] [-9.05403708e-03 -9.77309734e-05 9.99959007e-01 -5.44064296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.27, Y:-27.13, Z:-5.44 [[ 9.92577890e-01 1.21293325e-01 8.77847288e-03 2.25266859e+02] [-1.21289492e-01 9.92616703e-01 -9.69649183e-04 -2.71287787e+01] [-8.83127078e-03 -1.02284177e-04 9.99960998e-01 -5.44156752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.30, Y:-27.13, Z:-5.44 [[ 9.92333045e-01 1.23329972e-01 8.05267532e-03 2.25300228e+02] [-1.23326804e-01 9.92365712e-01 -8.90652433e-04 -2.71316130e+01] [-8.10104302e-03 -1.09286872e-04 9.99967180e-01 -5.44307922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:-27.14, Z:-5.44 [[ 9.92237627e-01 1.24117881e-01 7.69698814e-03 2.25332745e+02] [-1.24115001e-01 9.92267474e-01 -8.52592422e-04 -2.71352273e+01] [-7.74329294e-03 -1.09337406e-04 9.99970014e-01 -5.44395872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.37, Y:-27.14, Z:-5.44 [[ 9.92016684e-01 1.25794311e-01 8.87075884e-03 2.25365974e+02] [-1.25790533e-01 9.92056335e-01 -9.84786706e-04 -2.71371730e+01] [-8.92417307e-03 -1.38932644e-04 9.99960169e-01 -5.44342541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.40, Y:-27.14, Z:-5.44 [[ 9.91861875e-01 1.26914962e-01 1.01297762e-02 2.25398261e+02] [-1.26910057e-01 9.91913587e-01 -1.12817643e-03 -2.71395958e+01] [-1.01910451e-02 -1.66575286e-04 9.99948056e-01 -5.44364827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.43, Y:-27.14, Z:-5.44 [[ 9.91679574e-01 1.28298128e-01 1.05457802e-02 2.25431112e+02] [-1.28292884e-01 9.91735628e-01 -1.17504992e-03 -2.71415068e+01] [-1.06093826e-02 -1.87675547e-04 9.99943701e-01 -5.44400102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:-27.14, Z:-5.44 [[ 9.91248559e-01 1.31607666e-01 1.02818687e-02 2.25464625e+02] [-1.31602840e-01 9.91301859e-01 -1.14754758e-03 -2.71403159e+01] [-1.03434616e-02 -2.15618229e-04 9.99946482e-01 -5.44478169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:-27.14, Z:-5.45 [[ 9.91043783e-01 1.33187557e-01 9.65890355e-03 2.25497102e+02] [-1.33183348e-01 9.91090827e-01 -1.08062731e-03 -2.71417608e+01] [-9.71677682e-03 -2.15456129e-04 9.99952768e-01 -5.44581136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.53, Y:-27.14, Z:-5.45 [[ 9.90745534e-01 1.35390348e-01 9.63016316e-03 2.25530696e+02] [-1.35386265e-01 9.90792308e-01 -1.07761674e-03 -2.71413968e+01] [-9.68739049e-03 -2.36147855e-04 9.99953048e-01 -5.44743881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:-27.14, Z:-5.45 [[ 9.90648745e-01 1.36049624e-01 1.02744675e-02 2.25562732e+02] [-1.36044985e-01 9.90701991e-01 -1.15234388e-03 -2.71425321e+01] [-1.03357114e-02 -2.56221764e-04 9.99946552e-01 -5.44812660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:-27.14, Z:-5.45 [[ 9.90615280e-01 1.36283662e-01 1.03985571e-02 2.25594799e+02] [-1.36278898e-01 9.90669822e-01 -1.16870793e-03 -2.71434253e+01] [-1.04608125e-02 -2.59363960e-04 9.99945251e-01 -5.44881691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:-27.14, Z:-5.45 [[ 9.90698482e-01 1.35758911e-01 9.27550544e-03 2.25625924e+02] [-1.35755094e-01 9.90741877e-01 -1.04284631e-03 -2.71418198e+01] [-9.33120735e-03 -2.26050848e-04 9.99956438e-01 -5.44961171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.66, Y:-27.14, Z:-5.45 [[ 9.90750768e-01 1.35371597e-01 9.35126341e-03 2.25657846e+02] [-1.35367687e-01 9.90794873e-01 -1.05271820e-03 -2.71426088e+01] [-9.40769199e-03 -2.22877536e-04 9.99955722e-01 -5.45027267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.69, Y:-27.14, Z:-5.45 [[ 9.90877063e-01 1.34422302e-01 9.65871860e-03 2.25688478e+02] [-1.34418049e-01 9.90924113e-01 -1.09114823e-03 -2.71398250e+01] [-9.71773182e-03 -2.17112355e-04 9.99952758e-01 -5.45039156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:-27.14, Z:-5.45 [[ 9.90961850e-01 1.33757534e-01 1.01751444e-02 2.25718265e+02] [-1.33752774e-01 9.91014063e-01 -1.14992512e-03 -2.71403700e+01] [-1.02375223e-02 -2.21421858e-04 9.99947571e-01 -5.45129570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:-27.14, Z:-5.45 [[ 9.91042155e-01 1.33092625e-01 1.10363278e-02 2.25749654e+02] [-1.33086990e-01 9.91103576e-01 -1.24667168e-03 -2.71415171e+01] [-1.11040668e-02 -2.33287465e-04 9.99938321e-01 -5.45194821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.78, Y:-27.14, Z:-5.45 [[ 9.91233015e-01 1.31621365e-01 1.15293936e-02 2.25780443e+02] [-1.31615117e-01 9.91300038e-01 -1.30231578e-03 -2.71397322e+01] [-1.16005009e-02 -2.26544085e-04 9.99932686e-01 -5.45298865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.81, Y:-27.14, Z:-5.45 [[ 9.91358926e-01 1.30753719e-01 1.05330533e-02 2.25811476e+02] [-1.30748442e-01 9.91414861e-01 -1.19096109e-03 -2.71400776e+01] [-1.05983482e-02 -1.96510411e-04 9.99943817e-01 -5.45443211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.84, Y:-27.14, Z:-5.46 [[ 9.91558754e-01 1.29356712e-01 8.83621441e-03 2.25842760e+02] [-1.29352943e-01 9.91598113e-01 -9.99101325e-04 -2.71363627e+01] [-8.89121400e-03 -1.52322676e-04 9.99960461e-01 -5.45582026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.87, Y:-27.14, Z:-5.46 [[ 9.91671770e-01 1.28517071e-01 8.39426367e-03 2.25872498e+02] [-1.28513639e-01 9.91707287e-01 -9.49307479e-04 -2.71365270e+01] [-8.44665467e-03 -1.37375942e-04 9.99964317e-01 -5.45687461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:-27.14, Z:-5.46 [[ 9.91821177e-01 1.27397018e-01 7.79439804e-03 2.25902089e+02] [-1.27394023e-01 9.91851796e-01 -8.81558831e-04 -2.71368820e+01] [-7.84319566e-03 -1.18611004e-04 9.99969235e-01 -5.45749405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:-27.13, Z:-5.46 [[ 9.92187134e-01 1.24546699e-01 7.26716355e-03 2.25932525e+02] [-1.24544020e-01 9.92213743e-01 -8.21796896e-04 -2.71346505e+01] [-7.31293163e-03 -8.97054571e-05 9.99973256e-01 -5.45879877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:225.96, Y:-27.14, Z:-5.46 [[ 9.92430270e-01 1.22602475e-01 7.12689111e-03 2.25961841e+02] [-1.22599849e-01 9.92455857e-01 -8.05792261e-04 -2.71353815e+01] [-7.17191695e-03 -7.40631444e-05 9.99974279e-01 -5.46245162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:-27.14, Z:-5.46 [[ 9.92719254e-01 1.20189650e-01 7.93288644e-03 2.25990255e+02] [-1.20186320e-01 9.92750948e-01 -8.96839094e-04 -2.71365903e+01] [-7.98317131e-03 -6.31149945e-05 9.99968132e-01 -5.46055759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.02, Y:-27.14, Z:-5.46 [[ 9.93376070e-01 1.14581085e-01 8.66936494e-03 2.26021431e+02] [-1.14576903e-01 9.93413899e-01 -9.79173385e-04 -2.71350159e+01] [-8.72446237e-03 -2.06215726e-05 9.99961941e-01 -5.46088736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.05, Y:-27.14, Z:-5.46 [[ 9.93715303e-01 1.11623662e-01 8.36986803e-03 2.26050107e+02] [-1.11619655e-01 9.93750551e-01 -9.45872778e-04 -2.71361525e+01] [-8.42314275e-03 5.68647572e-06 9.99964525e-01 -5.46165266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:-27.14, Z:-5.46 [[ 9.94397706e-01 1.05431050e-01 7.58256696e-03 2.26080034e+02] [-1.05427584e-01 9.94426614e-01 -8.56521240e-04 -2.71372438e+01] [-7.63061033e-03 5.23110399e-05 9.99970885e-01 -5.46328222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.11, Y:-27.14, Z:-5.46 [[ 9.94669031e-01 1.02839579e-01 7.58543285e-03 2.26109810e+02] [-1.02836038e-01 9.94697952e-01 -8.56465096e-04 -2.71400932e+01] [-7.63329303e-03 7.18434480e-05 9.99970863e-01 -5.46404374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382200001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:226.14, Y:-27.14, Z:-5.47 [[ 9.95038316e-01 9.91262523e-02 8.52852375e-03 2.26140153e+02] [-9.91216419e-02 9.95074858e-01 -9.62632211e-04 -2.71426035e+01] [-8.58194168e-03 1.12494657e-04 9.99963168e-01 -5.46803750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.17, Y:-27.15, Z:-5.47 [[ 9.95120617e-01 9.82392890e-02 9.16517785e-03 2.26169015e+02] [-9.82339254e-02 9.95162814e-01 -1.03465985e-03 -2.71459893e+01] [-9.22248842e-03 1.29279954e-04 9.99957464e-01 -5.46729377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:-27.15, Z:-5.46 [[ 9.95190462e-01 9.74608217e-02 9.86576323e-03 2.26198813e+02] [-9.74545730e-02 9.95239352e-01 -1.11329520e-03 -2.71491858e+01] [-9.92729846e-03 1.46477025e-04 9.99950712e-01 -5.46464778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.23, Y:-27.15, Z:-5.47 [[ 9.95146560e-01 9.79811930e-02 9.11102883e-03 2.26229294e+02] [-9.79758834e-02 9.95188258e-01 -1.02837598e-03 -2.71508079e+01] [-9.16795042e-03 1.30723719e-04 9.99957965e-01 -5.46873082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.26, Y:-27.15, Z:-5.47 [[ 9.95145378e-01 9.79931875e-02 9.11104727e-03 2.26260091e+02] [-9.79878798e-02 9.95187077e-01 -1.02821263e-03 -2.71542893e+01] [-9.16795434e-03 1.30448846e-04 9.99957965e-01 -5.46943773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:-27.16, Z:-5.47 [[ 9.95127628e-01 9.81563596e-02 9.29151263e-03 2.26290327e+02] [-9.81508441e-02 9.95170996e-01 -1.04886094e-03 -2.71568052e+01] [-9.34959625e-03 1.31780690e-04 9.99956283e-01 -5.46664566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:-27.16, Z:-5.47 [[ 9.95016684e-01 9.92463797e-02 9.58931687e-03 2.26320754e+02] [-9.92405555e-02 9.95062883e-01 -1.08247820e-03 -2.71602277e+01] [-9.64940533e-03 1.25434737e-04 9.99953436e-01 -5.46785088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.35, Y:-27.16, Z:-5.47 [[ 9.94923492e-01 1.00209085e-01 9.24033646e-03 2.26349762e+02] [-1.00203717e-01 9.94966395e-01 -1.04324839e-03 -2.71640254e+01] [-9.29836722e-03 1.12036271e-04 9.99956763e-01 -5.46872976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:-27.17, Z:-5.47 [[ 9.94549369e-01 1.03931482e-01 8.35459146e-03 2.26378683e+02] [-1.03927224e-01 9.94584457e-01 -9.43338043e-04 -2.71681152e+01] [-8.40738933e-03 6.99267575e-05 9.99964655e-01 -5.46944133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.41, Y:-27.17, Z:-5.47 [[ 9.94313276e-01 1.06153335e-01 8.51934065e-03 2.26406979e+02] [-1.06148990e-01 9.94349771e-01 -9.61894221e-04 -2.71712771e+01] [-8.57331270e-03 5.21047926e-05 9.99963247e-01 -5.47023169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:-27.17, Z:-5.47 [[ 9.94080341e-01 1.08296321e-01 8.72820743e-03 2.26435170e+02] [-1.08291847e-01 9.94118658e-01 -9.84997843e-04 -2.71743891e+01] [-8.78354550e-03 3.39732880e-05 9.99961423e-01 -5.47073884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:-27.18, Z:-5.47 [[ 9.93578234e-01 1.12864291e-01 7.99653483e-03 2.26464807e+02] [-1.12860685e-01 9.93610412e-01 -9.02260151e-04 -2.71766957e+01] [-8.04727322e-03 -6.02835014e-06 9.99967620e-01 -5.47139793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:-27.18, Z:-5.47 [[ 9.93351843e-01 1.14835821e-01 8.05295489e-03 2.26494711e+02] [-1.14832230e-01 9.93384484e-01 -9.08428737e-04 -2.71796375e+01] [-8.10400060e-03 -2.23494114e-05 9.99967162e-01 -5.47206719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:-27.18, Z:-5.47 [[ 9.92950063e-01 1.18207179e-01 8.78837941e-03 2.26522809e+02] [-1.18203035e-01 9.92988953e-01 -9.91288932e-04 -2.71830863e+01] [-8.84394114e-03 -5.45127084e-05 9.99960890e-01 -5.47241057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:226.55, Y:-27.19, Z:-5.48 [[ 9.92797326e-01 1.19489579e-01 8.70112157e-03 2.26552603e+02] [-1.19485571e-01 9.92835453e-01 -9.80955176e-04 -2.71862558e+01] [-8.75599590e-03 -6.57688002e-05 9.99961663e-01 -5.47675070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:-27.19, Z:-5.47 [[ 9.92676444e-01 1.20501163e-01 8.54091369e-03 2.26581556e+02] [-1.20497338e-01 9.92713183e-01 -9.62863972e-04 -2.71892639e+01] [-8.59470384e-03 -7.33449806e-05 9.99963062e-01 -5.47346342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:-27.19, Z:-5.47 [[ 9.92664282e-01 1.20647409e-01 7.86287958e-03 2.26610165e+02] [-1.20644173e-01 9.92695420e-01 -8.86390560e-04 -2.71921206e+01] [-7.91238528e-03 -6.87223540e-05 9.99968694e-01 -5.47456245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.64, Y:-27.19, Z:-5.48 [[ 9.92570648e-01 1.21463200e-01 7.08523525e-03 2.26638514e+02] [-1.21460593e-01 9.92595933e-01 -7.98673335e-04 -2.71933910e+01] [-7.12978512e-03 -6.78371687e-05 9.99974580e-01 -5.47518650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:-27.20, Z:-5.48 [[ 9.92503789e-01 1.22006509e-01 7.11623608e-03 2.26666103e+02] [-1.22003897e-01 9.92529298e-01 -8.01699920e-04 -2.71953103e+01] [-7.16088540e-03 -7.25183223e-05 9.99974358e-01 -5.47598656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.69, Y:-27.20, Z:-5.48 [[ 9.92396600e-01 1.22855068e-01 7.45789039e-03 2.26693894e+02] [-1.22852226e-01 9.92424620e-01 -8.39743146e-04 -2.71969150e+01] [-7.50456073e-03 -8.28601902e-05 9.99971837e-01 -5.47630752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.72, Y:-27.20, Z:-5.48 [[ 9.92367802e-01 1.23099715e-01 7.25294714e-03 2.26722165e+02] [-1.23097039e-01 9.92394303e-01 -8.15972573e-04 -2.71992909e+01] [-7.29822941e-03 -8.30714080e-05 9.99973364e-01 -5.47700609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:-27.20, Z:-5.48 [[ 9.92387988e-01 1.22963338e-01 6.78957597e-03 2.26750778e+02] [-1.22960991e-01 9.92411211e-01 -7.63630234e-04 -2.72012440e+01] [-6.83194983e-03 -7.70355176e-05 9.99976659e-01 -5.47711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.78, Y:-27.20, Z:-5.48 [[ 9.92548155e-01 1.21582086e-01 8.12139075e-03 2.26778408e+02] [-1.21578685e-01 9.92581377e-01 -9.12971519e-04 -2.72016717e+01] [-8.17214219e-03 -8.12198137e-05 9.99966604e-01 -5.47746720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.81, Y:-27.20, Z:-5.48 [[ 9.92748685e-01 1.19902505e-01 8.56960569e-03 2.26807143e+02] [-1.19898663e-01 9.92785669e-01 -9.62556335e-04 -2.72037308e+01] [-8.62319464e-03 -7.19077254e-05 9.99962817e-01 -5.47782781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:-27.21, Z:-5.48 [[ 9.93186576e-01 1.16206243e-01 8.74836988e-03 2.26836300e+02] [-1.16202099e-01 9.93225104e-01 -9.82222248e-04 -2.72056916e+01] [-8.80324094e-03 -4.10489888e-05 9.99961250e-01 -5.47805432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.86, Y:-27.21, Z:-5.48 [[ 9.93423841e-01 1.14120841e-01 9.24694246e-03 2.26864858e+02] [-1.14116127e-01 9.93466876e-01 -1.03750166e-03 -2.72082824e+01] [-9.30493159e-03 -2.45463844e-05 9.99956708e-01 -5.47847783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.89, Y:-27.21, Z:-5.48 [[ 9.93840639e-01 1.10479046e-01 8.66972216e-03 2.26894183e+02] [-1.10474767e-01 9.93878454e-01 -9.72306852e-04 -2.72102706e+01] [-8.72406959e-03 8.53252623e-06 9.99961945e-01 -5.47858255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:-27.21, Z:-5.48 [[ 9.94027756e-01 1.08795116e-01 8.51140063e-03 2.26923000e+02] [-1.08790933e-01 9.94064194e-01 -9.54368761e-04 -2.72129045e+01] [-8.56470927e-03 2.27058256e-05 9.99963322e-01 -5.47962116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:-27.22, Z:-5.48 [[ 9.94182691e-01 1.07373033e-01 8.47396014e-03 2.26952720e+02] [-1.07368837e-01 9.94218804e-01 -9.49908488e-04 -2.72152716e+01] [-8.52696508e-03 3.45433340e-05 9.99963644e-01 -5.48056723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.98, Y:-27.22, Z:-5.48 [[ 9.94406051e-01 1.05304184e-01 8.22401410e-03 2.26981695e+02] [-1.05300162e-01 9.94440057e-01 -9.21710499e-04 -2.72188416e+01] [-8.27534902e-03 5.05644824e-05 9.99965757e-01 -5.48083694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:-27.22, Z:-5.48 [[ 9.94502402e-01 1.04397348e-01 8.13426349e-03 2.27009935e+02] [-1.04393384e-01 9.94535666e-01 -9.11479580e-04 -2.72234277e+01] [-8.18497120e-03 5.73053385e-05 9.99966501e-01 -5.48154526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.04, Y:-27.23, Z:-5.48 [[ 9.94532630e-01 1.04102440e-01 8.21765616e-03 2.27038542e+02] [-1.04098386e-01 9.94566578e-01 -9.20750830e-04 -2.72270600e+01] [-8.26885857e-03 6.02720026e-05 9.99965811e-01 -5.48172158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:227.07, Y:-27.23, Z:-5.49 [[ 9.94460518e-01 1.04817406e-01 7.84784722e-03 2.27067871e+02] [-1.04813734e-01 9.94491482e-01 -8.78867612e-04 -2.72296914e+01] [-7.89673784e-03 5.14369680e-05 9.99968819e-01 -5.48592207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.10, Y:-27.23, Z:-5.48 [[ 9.94369469e-01 1.05691235e-01 7.66304829e-03 2.27097410e+02] [-1.05687761e-01 9.94398995e-01 -8.58016298e-04 -2.72335946e+01] [-7.71081232e-03 4.32947926e-05 9.99970270e-01 -5.48243409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.13, Y:-27.24, Z:-5.48 [[ 9.94276882e-01 1.06531484e-01 8.03270536e-03 2.27125586e+02] [-1.06527694e-01 9.94309329e-01 -8.99358366e-04 -2.72374018e+01] [-8.08280385e-03 3.85056501e-05 9.99967333e-01 -5.48252357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.15, Y:-27.24, Z:-5.48 [[ 9.94116802e-01 1.08113320e-01 6.57979855e-03 2.27154479e+02] [-1.08110811e-01 9.94138577e-01 -7.36805633e-04 -2.72416670e+01] [-6.62089007e-03 2.11235008e-05 9.99978081e-01 -5.48275501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:-27.25, Z:-5.48 [[ 9.94042382e-01 1.08805471e-01 6.41181569e-03 2.27183150e+02] [-1.08803107e-01 9.94063061e-01 -7.17507749e-04 -2.72460718e+01] [-6.45181790e-03 1.56076443e-05 9.99979187e-01 -5.48434505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.21, Y:-27.25, Z:-5.49 [[ 9.93991065e-01 1.09282963e-01 6.24465432e-03 2.27211513e+02] [-1.09280730e-01 9.94010681e-01 -6.98791731e-04 -2.72506132e+01] [-6.28361912e-03 1.21723565e-05 9.99980258e-01 -5.48530621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:-27.25, Z:-5.49 [[ 9.93919444e-01 1.09923958e-01 6.39238704e-03 2.27240113e+02] [-1.09921634e-01 9.93940000e-01 -7.14796871e-04 -2.72547882e+01] [-6.43222248e-03 7.78887963e-06 9.99979313e-01 -5.48580460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.27, Y:-27.26, Z:-5.49 [[ 9.93696392e-01 1.11937802e-01 6.11636103e-03 2.27268584e+02] [-1.11935714e-01 9.93715215e-01 -6.83738975e-04 -2.72591966e+01] [-6.15445725e-03 -5.21028513e-06 9.99981061e-01 -5.48639174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:-27.27, Z:-5.49 [[ 9.93404391e-01 1.14603298e-01 3.71480448e-03 2.27296580e+02] [-1.14602544e-01 9.93411337e-01 -4.15707582e-04 -2.72650239e+01] [-3.73797035e-03 -1.27603080e-05 9.99993014e-01 -5.48710630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:-27.27, Z:-5.49 [[ 9.93247494e-01 1.15975487e-01 3.01707063e-03 2.27323990e+02] [-1.15974996e-01 9.93252076e-01 -3.37933858e-04 -2.72696147e+01] [-3.03590371e-03 -1.42527971e-05 9.99995392e-01 -5.48808725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:-27.27, Z:-5.49 [[ 9.93093614e-01 1.17290085e-01 2.84793388e-03 2.27352514e+02] [-1.17289653e-01 9.93097697e-01 -3.18602281e-04 -2.72732348e+01] [-2.86564546e-03 -1.76312875e-05 9.99995894e-01 -5.48890297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.38, Y:-27.28, Z:-5.49 [[ 9.92828690e-01 1.19438105e-01 5.07259867e-03 2.27381510e+02] [-1.19436770e-01 9.92841648e-01 -5.66413740e-04 -2.72768117e+01] [-5.10393861e-03 -4.35029872e-05 9.99986974e-01 -5.48916871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:-27.28, Z:-5.49 [[ 9.92773793e-01 1.19859671e-01 5.81845961e-03 2.27408898e+02] [-1.19857924e-01 9.92790842e-01 -6.49444960e-04 -2.72803702e+01] [-5.85435567e-03 -5.26365500e-05 9.99982862e-01 -5.48942755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.44, Y:-27.29, Z:-5.49 [[ 9.92811969e-01 1.19593861e-01 4.65852255e-03 2.27437635e+02] [-1.19592739e-01 9.92822898e-01 -5.19710941e-04 -2.72853306e+01] [-4.68724210e-03 -4.11502271e-05 9.99989014e-01 -5.49039847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:-27.29, Z:-5.49 [[ 9.92800493e-01 1.19710119e-01 4.08278414e-03 2.27465747e+02] [-1.19709258e-01 9.92808887e-01 -4.55423952e-04 -2.72895647e+01] [-4.10794324e-03 -3.66019373e-05 9.99991562e-01 -5.49180649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:-27.29, Z:-5.49 [[ 9.92768195e-01 1.20005811e-01 3.14900802e-03 2.27493846e+02] [-1.20005300e-01 9.92773189e-01 -3.51438744e-04 -2.72939826e+01] [-3.16842543e-03 -2.90004429e-05 9.99994980e-01 -5.49238941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.52, Y:-27.30, Z:-5.49 [[ 9.92488438e-01 1.22314820e-01 2.40529955e-03 2.27521357e+02] [-1.22314527e-01 9.92491352e-01 -2.68852664e-04 -2.72964468e+01] [-2.42012367e-03 -2.73699173e-05 9.99997071e-01 -5.49204086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.55, Y:-27.30, Z:-5.49 [[ 9.92308087e-01 1.23758785e-01 2.90220918e-03 2.27549619e+02] [-1.23758368e-01 9.92312331e-01 -3.23625890e-04 -2.72985555e+01] [-2.91994950e-03 -3.80360827e-05 9.99995736e-01 -5.49300478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:-27.30, Z:-5.49 [[ 9.92114525e-01 1.25282995e-01 3.59724935e-03 2.27576842e+02] [-1.25282365e-01 9.92121045e-01 -4.00904770e-04 -2.73025012e+01] [-3.61913334e-03 -5.29284604e-05 9.99993450e-01 -5.49282164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.61, Y:-27.31, Z:-5.49 [[ 9.92051939e-01 1.25771231e-01 3.81414837e-03 2.27605140e+02] [-1.25770529e-01 9.92059269e-01 -4.24445816e-04 -2.73058575e+01] [-3.83724432e-03 -5.86351618e-05 9.99992636e-01 -5.49318896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.63, Y:-27.31, Z:-5.49 [[ 9.92074376e-01 1.25577186e-01 4.33614439e-03 2.27634135e+02] [-1.25576277e-01 9.92083850e-01 -4.82195530e-04 -2.73081739e+01] [-4.36237158e-03 -6.61430393e-05 9.99990483e-01 -5.49365278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:-27.31, Z:-5.49 [[ 9.92276711e-01 1.23949009e-01 4.85506492e-03 2.27662988e+02] [-1.23947853e-01 9.92288586e-01 -5.39585102e-04 -2.73103757e+01] [-4.88450654e-03 -6.63571397e-05 9.99988069e-01 -5.49351847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.69, Y:-27.31, Z:-5.49 [[ 9.92694211e-01 1.20573185e-01 4.50674105e-03 2.27690312e+02] [-1.20572153e-01 9.92704440e-01 -5.00952127e-04 -2.73130656e+01] [-4.53426324e-03 -4.60951959e-05 9.99989719e-01 -5.49381612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.72, Y:-27.32, Z:-5.50 [[ 9.92920989e-01 1.18685237e-01 4.66095412e-03 2.27719090e+02] [-1.18684115e-01 9.92931928e-01 -5.17523456e-04 -2.73157006e+01] [-4.68943256e-03 -3.93213135e-05 9.99989004e-01 -5.49760807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.75, Y:-27.32, Z:-5.50 [[ 9.93164574e-01 1.16635575e-01 4.50235875e-03 2.27747119e+02] [-1.16634507e-01 9.93174779e-01 -4.99947447e-04 -2.73196593e+01] [-4.52994082e-03 -2.86002978e-05 9.99989739e-01 -5.49604805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.78, Y:-27.33, Z:-5.50 [[ 9.93498466e-01 1.13802406e-01 3.13219184e-03 2.27775333e+02] [-1.13801875e-01 9.93503403e-01 -3.47796204e-04 -2.73259081e+01] [-3.15142329e-03 -1.09143086e-05 9.99995034e-01 -5.49689628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.80, Y:-27.33, Z:-5.50 [[ 9.93558714e-01 1.13264921e-01 3.48426493e-03 2.27804173e+02] [-1.13264261e-01 9.93564823e-01 -3.86588493e-04 -2.73302565e+01] [-3.50562999e-03 -1.05443279e-05 9.99993855e-01 -5.49719692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:-27.33, Z:-5.50 [[ 9.93413227e-01 1.14508818e-01 4.22977582e-03 2.27833098e+02] [-1.14507859e-01 9.93422232e-01 -4.68848716e-04 -2.73313700e+01] [-4.25564065e-03 -1.85820589e-05 9.99990945e-01 -5.49712015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.86, Y:-27.33, Z:-5.50 [[ 9.93259517e-01 1.15840574e-01 4.06129500e-03 2.27862372e+02] [-1.15839703e-01 9.93267819e-01 -4.50020277e-04 -2.73324816e+01] [-4.08608424e-03 -2.34722819e-05 9.99991652e-01 -5.49768715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:-27.33, Z:-5.50 [[ 9.93063172e-01 1.17531175e-01 3.45813860e-03 2.27891533e+02] [-1.17530554e-01 9.93069193e-01 -3.83188313e-04 -2.73341707e+01] [-3.47920748e-03 -2.59067428e-05 9.99993947e-01 -5.49780580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.92, Y:-27.33, Z:-5.50 [[ 9.92606014e-01 1.21356768e-01 2.41569379e-03 2.27919137e+02] [-1.21356475e-01 9.92608953e-01 -2.68147302e-04 -2.73348348e+01] [-2.43038078e-03 -2.69954590e-05 9.99997046e-01 -5.49755362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:-27.34, Z:-5.50 [[ 9.92347701e-01 1.23456708e-01 2.11716114e-03 2.27947687e+02] [-1.23456488e-01 9.92349959e-01 -2.34797911e-04 -2.73366860e+01] [-2.12995215e-03 -2.83761112e-05 9.99997731e-01 -5.49858232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.98, Y:-27.34, Z:-5.50 [[ 9.91960409e-01 1.26533984e-01 1.92311142e-03 2.27975971e+02] [-1.26533808e-01 9.91962272e-01 -2.13533949e-04 -2.73374095e+01] [-1.93467328e-03 -3.15213873e-05 9.99998128e-01 -5.49997222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.00, Y:-27.34, Z:-5.50 [[ 9.91908380e-01 1.26936636e-01 2.20345079e-03 2.28003405e+02] [-1.26936406e-01 9.91910827e-01 -2.44307870e-04 -2.73386713e+01] [-2.21663831e-03 -3.73671007e-05 9.99997543e-01 -5.50052097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:-27.34, Z:-5.50 [[ 9.91955375e-01 1.26531621e-01 3.77919848e-03 2.28032576e+02] [-1.26530948e-01 9.91962572e-01 -4.17525477e-04 -2.73378717e+01] [-3.80165362e-03 -6.40189261e-05 9.99992772e-01 -5.50094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.06, Y:-27.34, Z:-5.50 [[ 9.92035114e-01 1.25899151e-01 3.96680099e-03 2.28061044e+02] [-1.25898406e-01 9.92043043e-01 -4.38014028e-04 -2.73394813e+01] [-3.99038292e-03 -6.48886259e-05 9.99992036e-01 -5.50103853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.09, Y:-27.34, Z:-5.50 [[ 9.92039542e-01 1.25864257e-01 3.96684585e-03 2.28090199e+02] [-1.25863513e-01 9.92047471e-01 -4.37606866e-04 -2.73426067e+01] [-3.99037846e-03 -6.51578398e-05 9.99992036e-01 -5.50170735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:-27.34, Z:-5.50 [[ 9.92310498e-01 1.23730177e-01 3.27410472e-03 2.28119157e+02] [-1.23729658e-01 9.92315898e-01 -3.61437202e-04 -2.73441197e+01] [-3.29366685e-03 -4.64459266e-05 9.99994575e-01 -5.50282924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.15, Y:-27.35, Z:-5.50 [[ 9.92510525e-01 1.22140858e-01 2.11393889e-03 2.28148209e+02] [-1.22140637e-01 9.92512776e-01 -2.33657116e-04 -2.73464529e+01] [-2.12665044e-03 -2.62906955e-05 9.99997738e-01 -5.50327255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:-27.35, Z:-5.50 [[ 9.92845983e-01 1.19392844e-01 1.48421614e-03 2.28177043e+02] [-1.19392731e-01 9.92847092e-01 -1.64302080e-04 -2.73472097e+01] [-1.49321617e-03 -1.40779585e-05 9.99998885e-01 -5.50396116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.21, Y:-27.35, Z:-5.50 [[ 9.92959179e-01 1.18439936e-01 2.01242014e-03 2.28206330e+02] [-1.18439728e-01 9.92961218e-01 -2.22285849e-04 -2.73487449e+01] [-2.02458268e-03 -1.76297211e-05 9.99997950e-01 -5.50445306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:-27.35, Z:-5.50 [[ 9.93038455e-01 1.17755511e-01 2.87511660e-03 2.28235516e+02] [-1.17755086e-01 9.93042617e-01 -3.17024446e-04 -2.73501456e+01] [-2.89244469e-03 -2.37421380e-05 9.99995817e-01 -5.50399976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:-27.35, Z:-5.50 [[ 9.93149362e-01 1.16770631e-01 4.35472865e-03 2.28263258e+02] [-1.16769651e-01 9.93158909e-01 -4.79595945e-04 -2.73498335e+01] [-4.38094028e-03 -3.21897377e-05 9.99990403e-01 -5.50350815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.29, Y:-27.35, Z:-5.50 [[ 9.93275750e-01 1.15653062e-01 5.25867290e-03 2.28292122e+02] [-1.15651621e-01 9.93289670e-01 -5.78326304e-04 -2.73506791e+01] [-5.29027068e-03 -3.37365538e-05 9.99986006e-01 -5.50313866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.32, Y:-27.35, Z:-5.50 [[ 9.93283805e-01 1.15546678e-01 6.02059167e-03 2.28319492e+02] [-1.15544789e-01 9.93302051e-01 -6.61856123e-04 -2.73527803e+01] [-6.05674133e-03 -3.82370265e-05 9.99981657e-01 -5.50342518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.35, Y:-27.35, Z:-5.50 [[ 9.93265109e-01 1.15689529e-01 6.35266766e-03 2.28347835e+02] [-1.15687433e-01 9.93285423e-01 -6.97691680e-04 -2.73548439e+01] [-6.39072781e-03 -4.19310133e-05 9.99979578e-01 -5.50390246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:-27.35, Z:-5.51 [[ 9.93280097e-01 1.15576034e-01 6.06879027e-03 2.28376390e+02] [-1.15574119e-01 9.93298635e-01 -6.66464732e-04 -2.73540150e+01] [-6.10514844e-03 -3.94089352e-05 9.99981363e-01 -5.50527680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:-27.36, Z:-5.51 [[ 9.93334316e-01 1.15115332e-01 5.94953412e-03 2.28404802e+02] [-1.15113487e-01 9.93352132e-01 -6.52811397e-04 -2.73551146e+01] [-5.98513101e-03 -3.64116532e-05 9.99982088e-01 -5.50664923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.43, Y:-27.36, Z:-5.51 [[ 9.93508456e-01 1.13552951e-01 6.83198654e-03 2.28432981e+02] [-1.13550483e-01 9.93531945e-01 -7.49324388e-04 -2.73561433e+01] [-6.87288487e-03 -3.13152586e-05 9.99976381e-01 -5.50806379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:-27.36, Z:-5.51 [[ 9.93570642e-01 1.13005066e-01 6.87268566e-03 2.28461400e+02] [-1.13002560e-01 9.93594411e-01 -7.53152805e-04 -2.73588893e+01] [-6.91377214e-03 -2.83205551e-05 9.99976099e-01 -5.50848372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.49, Y:-27.36, Z:-5.51 [[ 9.93615201e-01 1.12598140e-01 7.10572449e-03 2.28489262e+02] [-1.12595451e-01 9.93640608e-01 -7.78602011e-04 -2.73596872e+01] [-7.14820555e-03 -2.64414588e-05 9.99974451e-01 -5.50824920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:-27.36, Z:-5.51 [[ 9.93700766e-01 1.11872858e-01 6.57649838e-03 2.28518343e+02] [-1.11870543e-01 9.93722528e-01 -7.19990308e-04 -2.73608051e+01] [-6.61576197e-03 -2.02615240e-05 9.99978115e-01 -5.50834385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.55, Y:-27.36, Z:-5.51 [[ 9.93807062e-01 1.10962774e-01 5.89804321e-03 2.28547401e+02] [-1.10960896e-01 9.93824563e-01 -6.45559005e-04 -2.73624804e+01] [-5.93325324e-03 -1.28910643e-05 9.99982398e-01 -5.50925080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:-27.36, Z:-5.51 [[ 9.93980550e-01 1.09425879e-01 5.35193688e-03 2.28575434e+02] [-1.09424311e-01 9.93994958e-01 -5.85832058e-04 -2.73643347e+01] [-5.38390346e-03 -3.32633259e-06 9.99985507e-01 -5.51068301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:-27.37, Z:-5.51 [[ 9.94334104e-01 1.06186797e-01 4.90438174e-03 2.28604102e+02] [-1.06185443e-01 9.94346199e-01 -5.36449850e-04 -2.73674858e+01] [-4.93361723e-03 1.26364341e-05 9.99987830e-01 -5.51255376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.63, Y:-27.37, Z:-5.51 [[ 9.94525275e-01 1.04369059e-01 5.15533846e-03 2.28632613e+02] [-1.04367539e-01 9.94538636e-01 -5.63621645e-04 -2.73706919e+01] [-5.18600795e-03 2.24859814e-05 9.99986552e-01 -5.51329137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.66, Y:-27.37, Z:-5.51 [[ 9.94852627e-01 1.01175883e-01 5.62957228e-03 2.28660874e+02] [-1.01174021e-01 9.94868554e-01 -6.15294157e-04 -2.73721244e+01] [-5.66293736e-03 4.25605471e-05 9.99983965e-01 -5.51421777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:-27.37, Z:-5.51 [[ 9.95027320e-01 9.94380435e-02 5.71909881e-03 2.28689589e+02] [-9.94360965e-02 9.95043754e-01 -6.24489392e-04 -2.73744774e+01] [-5.75285156e-03 5.26991449e-05 9.99983451e-01 -5.51465266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.72, Y:-27.38, Z:-5.52 [[ 9.95180709e-01 9.78767077e-02 5.95865647e-03 2.28716829e+02] [-9.78745671e-02 9.95198546e-01 -6.50508782e-04 -2.73774755e+01] [-5.99371591e-03 6.41728691e-05 9.99982035e-01 -5.51533329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:-27.38, Z:-5.52 [[ 9.95453212e-01 9.51033260e-02 5.31607686e-03 2.28745631e+02] [-9.51015847e-02 9.95467404e-01 -5.79957276e-04 -2.73810348e+01] [-5.34713709e-03 7.17529997e-05 9.99985701e-01 -5.51588192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.77, Y:-27.38, Z:-5.52 [[ 9.95548779e-01 9.41315201e-02 4.67828624e-03 2.28773808e+02] [-9.41301597e-02 9.95559768e-01 -5.10630670e-04 -2.73834100e+01] [-4.70558001e-03 6.79899085e-05 9.99988926e-01 -5.51638077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.80, Y:-27.39, Z:-5.52 [[ 9.95630205e-01 9.32715224e-02 4.57369999e-03 2.28802371e+02] [-9.32702157e-02 9.95640707e-01 -4.98622089e-04 -2.73861926e+01] [-4.60026914e-03 6.98532278e-05 9.99989416e-01 -5.51712685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:-27.39, Z:-5.52 [[ 9.95639086e-01 9.31422505e-02 5.22793384e-03 2.28829788e+02] [-9.31405426e-02 9.95652808e-01 -5.69741868e-04 -2.73897742e+01] [-5.25827405e-03 8.03246776e-05 9.99986172e-01 -5.51753626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.86, Y:-27.39, Z:-5.52 [[ 9.95591021e-01 9.36223117e-02 5.77763743e-03 2.28858260e+02] [-9.36202379e-02 9.95607782e-01 -6.28956302e-04 -2.73931101e+01] [-5.81114513e-03 8.52794565e-05 9.99983112e-01 -5.51753911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:-27.40, Z:-5.52 [[ 9.95400535e-01 9.56186496e-02 5.90326120e-03 2.28885972e+02] [-9.56165204e-02 9.95418037e-01 -6.42518920e-04 -2.73956278e+01] [-5.93764947e-03 7.51143816e-05 9.99982369e-01 -5.51773279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.91, Y:-27.40, Z:-5.52 [[ 9.95136711e-01 9.83306812e-02 5.83123246e-03 2.28914355e+02] [-9.83286532e-02 9.95153794e-01 -6.34143105e-04 -2.73988104e+01] [-5.86532883e-03 5.76818498e-05 9.99982797e-01 -5.51788308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.94, Y:-27.40, Z:-5.52 [[ 9.95010639e-01 9.95840328e-02 6.07035885e-03 2.28942427e+02] [-9.95818594e-02 9.95029154e-01 -6.60004503e-04 -2.74013826e+01] [-6.10590995e-03 5.22138809e-05 9.99981357e-01 -5.51853808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:-27.40, Z:-5.52 [[ 9.94901160e-01 1.00662593e-01 6.22284741e-03 2.28971389e+02] [-1.00660335e-01 9.94920620e-01 -6.75949660e-04 -2.74046251e+01] [-6.25928205e-03 4.61091982e-05 9.99980409e-01 -5.51901058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.00, Y:-27.41, Z:-5.52 [[ 9.94801641e-01 1.01671326e-01 5.71283501e-03 2.29000114e+02] [-1.01669440e-01 9.94818044e-01 -6.20362640e-04 -2.74082510e+01] [-5.74630444e-03 3.63170385e-05 9.99983489e-01 -5.52067584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:-27.41, Z:-5.52 [[ 9.94777953e-01 1.01884299e-01 6.03442617e-03 2.29027758e+02] [-1.01882199e-01 9.94796255e-01 -6.55124325e-04 -2.74117828e+01] [-6.06977144e-03 3.69026271e-05 9.99981578e-01 -5.52155925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.06, Y:-27.42, Z:-5.52 [[ 9.94744322e-01 1.02166047e-01 6.77002926e-03 2.29055373e+02] [-1.02163415e-01 9.94767358e-01 -7.34377670e-04 -2.74163660e+01] [-6.80963259e-03 3.88687095e-05 9.99976813e-01 -5.52207708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:-27.42, Z:-5.52 [[ 9.94771697e-01 1.01922410e-01 6.41043857e-03 2.29084423e+02] [-1.01920048e-01 9.94792351e-01 -6.94864140e-04 -2.74199886e+01] [-6.44787749e-03 3.78789705e-05 9.99979212e-01 -5.52307698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.11, Y:-27.42, Z:-5.52 [[ 9.94800340e-01 1.01688015e-01 5.64189743e-03 2.29111979e+02] [-1.01686181e-01 9.94816338e-01 -6.11748492e-04 -2.74236579e+01] [-5.67485923e-03 3.48646024e-05 9.99983897e-01 -5.52324853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:-27.43, Z:-5.53 [[ 9.94896939e-01 1.00776316e-01 4.92089926e-03 2.29140593e+02] [-1.00774912e-01 9.94909108e-01 -5.33077469e-04 -2.74309097e+01] [-4.94956908e-03 3.44539515e-05 9.99987750e-01 -5.52546563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.17, Y:-27.44, Z:-5.53 [[ 9.95044503e-01 9.93202937e-02 4.68145793e-03 2.29169036e+02] [-9.93190076e-02 9.95055515e-01 -5.06973868e-04 -2.74390003e+01] [-4.70866333e-03 3.95038047e-05 9.99988913e-01 -5.52573002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:-27.44, Z:-5.53 [[ 9.95078376e-01 9.89601621e-02 5.09028174e-03 2.29196142e+02] [-9.89586376e-02 9.95091395e-01 -5.51113930e-04 -2.74432673e+01] [-5.11983388e-03 4.46742086e-05 9.99986893e-01 -5.52613574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:-27.45, Z:-5.53 [[ 9.95076591e-01 9.89835602e-02 4.98330443e-03 2.29224414e+02] [-9.89821018e-02 9.95089068e-01 -5.39054788e-04 -2.74480232e+01] [-5.01218932e-03 4.31428539e-05 9.99987438e-01 -5.52650546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.25, Y:-27.45, Z:-5.53 [[ 9.94979151e-01 9.99465972e-02 5.21225407e-03 2.29252963e+02] [-9.99450163e-02 9.94992802e-01 -5.63555585e-04 -2.74543667e+01] [-5.24248075e-03 3.97872392e-05 9.99986257e-01 -5.52640196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:-27.46, Z:-5.53 [[ 9.94889258e-01 1.00833957e-01 5.27998655e-03 2.29281460e+02] [-1.00832348e-01 9.94903268e-01 -5.70615338e-04 -2.74585118e+01] [-5.31061327e-03 3.53056286e-05 9.99985898e-01 -5.52689819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.31, Y:-27.46, Z:-5.53 [[ 9.94633581e-01 1.03333319e-01 5.12495308e-03 2.29309218e+02] [-1.03331837e-01 9.94646784e-01 -5.53848244e-04 -2.74642907e+01] [-5.15474908e-03 2.13052467e-05 9.99986714e-01 -5.52790910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:-27.47, Z:-5.53 [[ 9.94476804e-01 1.04832521e-01 5.10191339e-03 2.29337611e+02] [-1.04831071e-01 9.94489891e-01 -5.51434748e-04 -2.74690661e+01] [-5.13160958e-03 1.35500190e-05 9.99986833e-01 -5.52850518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.37, Y:-27.47, Z:-5.53 [[ 9.94294112e-01 1.06534347e-01 5.44539983e-03 2.29366487e+02] [-1.06532728e-01 9.94309023e-01 -5.87414498e-04 -2.74732383e+01] [-5.47699001e-03 3.94947715e-06 9.99985001e-01 -5.52840643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:-27.48, Z:-5.53 [[ 9.93839598e-01 1.10581438e-01 7.38910302e-03 2.29394840e+02] [-1.10578576e-01 9.93867066e-01 -7.96111038e-04 -2.74766387e+01] [-7.43182124e-03 -2.58698127e-05 9.99972383e-01 -5.52795286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.42, Y:-27.48, Z:-5.53 [[ 9.93388054e-01 1.14549188e-01 7.65888362e-03 2.29422477e+02] [-1.14546230e-01 9.93417576e-01 -8.25234737e-04 -2.74806233e+01] [-7.70299957e-03 -5.75179169e-05 9.99970330e-01 -5.52821081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:-27.48, Z:-5.53 [[ 9.93180869e-01 1.16377704e-01 6.92752028e-03 2.29451203e+02] [-1.16375332e-01 9.93205027e-01 -7.45900690e-04 -2.74839210e+01] [-6.96725418e-03 -6.53781789e-05 9.99975726e-01 -5.52885370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:-27.49, Z:-5.53 [[ 9.92970085e-01 1.18174190e-01 6.72834367e-03 2.29479933e+02] [-1.18171996e-01 9.92992878e-01 -7.24169382e-04 -2.74870830e+01] [-6.76677547e-03 -7.60232661e-05 9.99977102e-01 -5.52992986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:229.51, Y:-27.49, Z:-5.53 [[ 9.92627071e-01 1.20960471e-01 7.74996539e-03 2.29508997e+02] [-1.20957648e-01 9.92657319e-01 -8.33618283e-04 -2.74899770e+01] [-7.79389473e-03 -1.09945512e-04 9.99969621e-01 -5.53373572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.54, Y:-27.49, Z:-5.53 [[ 9.92582614e-01 1.21266525e-01 8.61305933e-03 2.29536240e+02] [-1.21263053e-01 9.92619975e-01 -9.26147048e-04 -2.74929817e+01] [-8.66180536e-03 -1.25168414e-04 9.99962478e-01 -5.53141048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.56, Y:-27.50, Z:-5.53 [[ 9.92501498e-01 1.21904677e-01 8.94575270e-03 2.29563961e+02] [-1.21900964e-01 9.92541803e-01 -9.61181011e-04 -2.74950018e+01] [-8.99620598e-03 -1.36522283e-04 9.99959524e-01 -5.53122247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.59, Y:-27.50, Z:-5.53 [[ 9.92495015e-01 1.22024628e-01 7.97719762e-03 2.29592818e+02] [-1.22021684e-01 9.92527065e-01 -8.56614630e-04 -2.74970907e+01] [-8.02211263e-03 -1.23205334e-04 9.99967815e-01 -5.53144404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:-27.50, Z:-5.53 [[ 9.92409658e-01 1.22861527e-01 5.30248689e-03 2.29622238e+02] [-1.22860238e-01 9.92423820e-01 -5.69533116e-04 -2.74971075e+01] [-5.33228801e-03 -8.62546349e-05 9.99985780e-01 -5.53284378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.65, Y:-27.50, Z:-5.53 [[ 9.92324199e-01 1.23570598e-01 4.79503738e-03 2.29649981e+02] [-1.23569550e-01 9.92335780e-01 -5.15259000e-04 -2.74981970e+01] [-4.82195803e-03 -8.12166371e-05 9.99988371e-01 -5.53372985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:-27.50, Z:-5.53 [[ 9.92256854e-01 1.24086424e-01 5.37538096e-03 2.29679045e+02] [-1.24085120e-01 9.92271410e-01 -5.76700104e-04 -2.74979247e+01] [-5.40539750e-03 -9.47701602e-05 9.99985386e-01 -5.53480522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:-27.50, Z:-5.54 [[ 9.92288193e-01 1.23822271e-01 5.67340405e-03 2.29706428e+02] [-1.23820814e-01 9.92304407e-01 -6.08661026e-04 -2.74989761e+01] [-5.70510963e-03 -9.85183569e-05 9.99983721e-01 -5.53552117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.74, Y:-27.50, Z:-5.54 [[ 9.92392792e-01 1.22998734e-01 5.27802209e-03 2.29735494e+02] [-1.22997465e-01 9.92406824e-01 -5.65607164e-04 -2.75000512e+01] [-5.30751410e-03 -8.78788645e-05 9.99985911e-01 -5.53591795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.76, Y:-27.50, Z:-5.54 [[ 9.92674182e-01 1.20735735e-01 4.56616425e-03 2.29764216e+02] [-1.20734761e-01 9.92684682e-01 -4.89287024e-04 -2.75001629e+01] [-4.59183573e-03 -6.55921545e-05 9.99989455e-01 -5.53756312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.79, Y:-27.50, Z:-5.54 [[ 9.92849001e-01 1.19290373e-01 4.54622114e-03 2.29791768e+02] [-1.19289392e-01 9.92859408e-01 -4.87147272e-04 -2.75007641e+01] [-4.57187041e-03 -5.86522750e-05 9.99989547e-01 -5.53795796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.82, Y:-27.50, Z:-5.54 [[ 9.93193317e-01 1.16352846e-01 5.38988350e-03 2.29820038e+02] [-1.16351428e-01 9.93207940e-01 -5.76957245e-04 -2.74972718e+01] [-5.42040571e-03 -5.40905622e-05 9.99985308e-01 -5.53787757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:-27.50, Z:-5.54 [[ 9.93388615e-01 1.14641832e-01 6.02581171e-03 2.29848975e+02] [-1.14640032e-01 9.93406889e-01 -6.44288176e-04 -2.74982419e+01] [-6.05994524e-03 -5.07707114e-05 9.99981637e-01 -5.53842036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:-27.50, Z:-5.54 [[ 9.93392727e-01 1.14606187e-01 6.02586402e-03 2.29878139e+02] [-1.14604390e-01 9.93411002e-01 -6.43798200e-04 -2.75012702e+01] [-6.05994287e-03 -5.10460213e-05 9.99981637e-01 -5.53908919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.91, Y:-27.50, Z:-5.54 [[ 9.93865450e-01 1.10383639e-01 6.84973050e-03 2.29906650e+02] [-1.10381218e-01 9.93889054e-01 -7.31675393e-04 -2.75011796e+01] [-6.88863715e-03 -2.88947014e-05 9.99976273e-01 -5.53963859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.93, Y:-27.50, Z:-5.54 [[ 9.94102591e-01 1.08232830e-01 6.75961424e-03 2.29934117e+02] [-1.08230423e-01 9.94125573e-01 -7.21917986e-04 -2.75023250e+01] [-6.79804060e-03 -1.39353709e-05 9.99976893e-01 -5.54016482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.96, Y:-27.50, Z:-5.54 [[ 9.94315074e-01 1.06271509e-01 6.62572763e-03 2.29962234e+02] [-1.06269156e-01 9.94337149e-01 -7.07211330e-04 -2.75037708e+01] [-6.66336354e-03 -9.19597352e-07 9.99977800e-01 -5.54126046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:229.99, Y:-27.50, Z:-5.55 [[ 9.94744424e-01 1.02205838e-01 6.12353674e-03 2.29990636e+02] [-1.02203754e-01 9.94763271e-01 -6.53159887e-04 -2.75048415e+01] [-6.15822619e-03 2.38787137e-05 9.99981038e-01 -5.54563225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.02, Y:-27.51, Z:-5.54 [[ 9.94938096e-01 1.00320709e-01 5.82592282e-03 2.30018667e+02] [-1.00318791e-01 9.94955152e-01 -6.21383508e-04 -2.75072200e+01] [-5.85886956e-03 3.37885918e-05 9.99982836e-01 -5.54262220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:230.05, Y:-27.51, Z:-5.55 [[ 9.95178547e-01 9.80045883e-02 3.84202535e-03 2.30046396e+02] [-9.80037357e-02 9.95185962e-01 -4.10010588e-04 -2.75067690e+01] [-3.86371262e-03 3.15009038e-05 9.99992535e-01 -5.54669508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.07, Y:-27.51, Z:-5.54 [[ 9.95262630e-01 9.71334218e-02 4.17073999e-03 2.30074994e+02] [-9.71324119e-02 9.95271369e-01 -4.44506842e-04 -2.75089941e+01] [-4.19419457e-03 3.72870140e-05 9.99991204e-01 -5.54475999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:-27.51, Z:-5.55 [[ 9.95255481e-01 9.71955255e-02 4.42236186e-03 2.30102973e+02] [-9.71943909e-02 9.95265305e-01 -4.71256122e-04 -2.75118674e+01] [-4.44722731e-03 3.91914716e-05 9.99990110e-01 -5.54569133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.13, Y:-27.51, Z:-5.55 [[ 9.95060492e-01 9.91578448e-02 4.72633925e-03 2.30131595e+02] [-9.91565740e-02 9.95071716e-01 -5.03033133e-04 -2.75146663e+01] [-4.75292619e-03 3.19007896e-05 9.99988704e-01 -5.54575707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:-27.52, Z:-5.55 [[ 9.94904732e-01 1.00722137e-01 4.43000060e-03 2.30158972e+02] [-1.00721036e-01 9.94914595e-01 -4.71562994e-04 -2.75159500e+01] [-4.45496908e-03 2.29660034e-05 9.99990076e-01 -5.54582263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:-27.52, Z:-5.55 [[ 9.94549188e-01 1.04178340e-01 4.33419221e-03 2.30186825e+02] [-1.04177319e-01 9.94558632e-01 -4.61394089e-04 -2.75159289e+01] [-4.35867555e-03 7.35459311e-06 9.99990501e-01 -5.54643450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:-27.52, Z:-5.55 [[ 9.94372586e-01 1.05831037e-01 4.79081221e-03 2.30214180e+02] [-1.05829812e-01 9.94384127e-01 -5.09240476e-04 -2.75181477e+01] [-4.81780107e-03 -6.35988745e-07 9.99988394e-01 -5.54720507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.24, Y:-27.52, Z:-5.55 [[ 9.94214364e-01 1.07291927e-01 5.12268520e-03 2.30241766e+02] [-1.07290546e-01 9.94227561e-01 -5.44320811e-04 -2.75198377e+01] [-5.15151604e-03 -8.44412363e-06 9.99986731e-01 -5.54782576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:-27.52, Z:-5.55 [[ 9.93848405e-01 1.10621051e-01 5.32270670e-03 2.30270459e+02] [-1.10619611e-01 9.93862658e-01 -5.65110138e-04 -2.75191925e+01] [-5.35255251e-03 -2.71619357e-05 9.99985675e-01 -5.54848549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:230.30, Y:-27.52, Z:-5.55 [[ 9.93670834e-01 1.12232206e-01 4.71221329e-03 2.30298252e+02] [-1.12231096e-01 9.93682007e-01 -5.00144839e-04 -2.75200914e+01] [-4.73857392e-03 -3.18775227e-05 9.99988772e-01 -5.55258394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.33, Y:-27.52, Z:-5.55 [[ 9.93487321e-01 1.13787786e-01 5.94000578e-03 2.30325014e+02] [-1.13786055e-01 9.93505077e-01 -6.29777445e-04 -2.75200886e+01] [-5.97308688e-03 -5.02139156e-05 9.99982160e-01 -5.54963785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.35, Y:-27.52, Z:-5.55 [[ 9.93468978e-01 1.13936019e-01 6.16219911e-03 2.30353061e+02] [-1.13934163e-01 9.93488088e-01 -6.52485704e-04 -2.75213433e+01] [-6.19641304e-03 -5.38606922e-05 9.99980801e-01 -5.55042273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:-27.52, Z:-5.55 [[ 9.93476126e-01 1.13888641e-01 5.87921061e-03 2.30380646e+02] [-1.13886954e-01 9.93493520e-01 -6.22005324e-04 -2.75224799e+01] [-5.91179699e-03 -5.16179473e-05 9.99982524e-01 -5.55070214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.41, Y:-27.52, Z:-5.55 [[ 9.93632069e-01 1.12511623e-01 6.03704920e-03 2.30407525e+02] [-1.12509819e-01 9.93650408e-01 -6.38705385e-04 -2.75228025e+01] [-6.07057817e-03 -4.45891600e-05 9.99981573e-01 -5.55209874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.44, Y:-27.52, Z:-5.55 [[ 9.94016525e-01 1.09038612e-01 6.45975749e-03 2.30435449e+02] [-1.09036479e-01 9.94037515e-01 -6.82499713e-04 -2.75242814e+01] [-6.49566011e-03 -2.59332169e-05 9.99978903e-01 -5.55285390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.46, Y:-27.53, Z:-5.55 [[ 9.94246494e-01 1.06942932e-01 6.09247617e-03 2.30463073e+02] [-1.06940997e-01 9.94265160e-01 -6.43349599e-04 -2.75258431e+01] [-6.12633849e-03 -1.18873953e-05 9.99981234e-01 -5.55341860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:-27.53, Z:-5.55 [[ 9.94467222e-01 1.04876270e-01 5.99265534e-03 2.30491180e+02] [-1.04874364e-01 9.94485278e-01 -6.32411546e-04 -2.75266978e+01] [-6.02593248e-03 4.36637690e-07 9.99981844e-01 -5.55377598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.52, Y:-27.53, Z:-5.55 [[ 9.94776860e-01 1.01849911e-01 6.75242928e-03 2.30519231e+02] [-1.01847426e-01 9.94799776e-01 -7.11657354e-04 -2.75265003e+01] [-6.78979737e-03 2.02227230e-05 9.99976949e-01 -5.55382641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:-27.53, Z:-5.55 [[ 9.94896634e-01 1.00667315e-01 6.83957190e-03 2.30547139e+02] [-1.00664740e-01 9.94920143e-01 -7.20577299e-04 -2.75285043e+01] [-6.87736643e-03 2.83962026e-05 9.99976350e-01 -5.55462582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:-27.53, Z:-5.56 [[ 9.95056260e-01 9.91076917e-02 6.37998331e-03 2.30573655e+02] [-9.91054180e-02 9.95076713e-01 -6.72322318e-04 -2.75296063e+01] [-6.41520513e-03 3.67076186e-05 9.99979422e-01 -5.55599915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.60, Y:-27.53, Z:-5.56 [[ 9.95160164e-01 9.80573293e-02 6.40375759e-03 2.30601770e+02] [-9.80550246e-02 9.95180767e-01 -6.73631722e-04 -2.75320587e+01] [-6.43895091e-03 4.24508471e-05 9.99979269e-01 -5.55688831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:-27.53, Z:-5.56 [[ 9.95285394e-01 9.67341787e-02 7.03442039e-03 2.30629042e+02] [-9.67313710e-02 9.95310251e-01 -7.39077978e-04 -2.75340892e+01] [-7.07292483e-03 5.51443884e-05 9.99974985e-01 -5.55726107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.66, Y:-27.53, Z:-5.56 [[ 9.95426252e-01 9.51568425e-02 8.47065473e-03 2.30657323e+02] [-9.51527211e-02 9.95462289e-01 -8.89147189e-04 -2.75340264e+01] [-8.51682579e-03 7.90746069e-05 9.99963728e-01 -5.55633691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:-27.54, Z:-5.56 [[ 9.95494830e-01 9.44223493e-02 8.62920331e-03 2.30686648e+02] [-9.44180508e-02 9.95532226e-01 -9.05075711e-04 -2.75352867e+01] [-8.67610936e-03 8.62456341e-05 9.99962358e-01 -5.55694394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:-27.54, Z:-5.56 [[ 9.95651898e-01 9.28575859e-02 7.40046355e-03 2.30714394e+02] [-9.28543814e-02 9.95679397e-01 -7.76177880e-04 -2.75371713e+01] [-7.44056309e-03 8.56375145e-05 9.99972315e-01 -5.55805056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.74, Y:-27.54, Z:-5.56 [[ 9.95761638e-01 9.16570527e-02 7.59896872e-03 2.30741856e+02] [-9.16536429e-02 9.95790628e-01 -7.96480245e-04 -2.75408988e+01] [-7.63998487e-03 9.66313085e-05 9.99970810e-01 -5.55911238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:-27.55, Z:-5.56 [[ 9.96089250e-01 8.78385499e-02 9.51817432e-03 2.30770516e+02] [-8.78330361e-02 9.96134712e-01 -9.96578803e-04 -2.75455543e+01] [-9.56892187e-03 1.56671284e-04 9.99954205e-01 -5.55955040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:-27.55, Z:-5.56 [[ 9.96283662e-01 8.55420952e-02 1.00704567e-02 2.30799240e+02] [-8.55358113e-02 9.96334539e-01 -1.05384945e-03 -2.75501040e+01] [-1.01236923e-02 1.88548314e-04 9.99948736e-01 -5.56001060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.83, Y:-27.55, Z:-5.56 [[ 9.96497440e-01 8.30851050e-02 9.47187613e-03 2.30827559e+02] [-8.30794385e-02 9.96542435e-01 -9.90832473e-04 -2.75548989e+01] [-9.52144992e-03 2.00443873e-04 9.99954650e-01 -5.56019179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.86, Y:-27.56, Z:-5.56 [[ 9.96830780e-01 7.93140332e-02 6.13837934e-03 2.30855123e+02] [-7.93115801e-02 9.96849668e-01 -6.42409601e-04 -2.75614090e+01] [-6.16999350e-03 1.53529098e-04 9.99980954e-01 -5.56296208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:-27.57, Z:-5.56 [[ 9.97100660e-01 7.58801589e-02 5.69872852e-03 2.30883407e+02] [-7.58779913e-02 9.97116932e-01 -5.95932207e-04 -2.75680062e+01] [-5.72751813e-03 1.61796324e-04 9.99983585e-01 -5.56299930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.91, Y:-27.57, Z:-5.57 [[ 9.97179021e-01 7.48822461e-02 5.16235408e-03 2.30911908e+02] [-7.48804558e-02 9.97192372e-01 -5.39483734e-04 -2.75736468e+01] [-5.18825787e-03 1.51402435e-04 9.99986529e-01 -5.56503244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:-27.58, Z:-5.56 [[ 9.97236953e-01 7.40300588e-02 6.16528799e-03 2.30939960e+02] [-7.40274901e-02 9.97255993e-01 -6.44112891e-04 -2.75794294e+01] [-6.19605411e-03 1.85932381e-04 9.99980787e-01 -5.56412982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.97, Y:-27.59, Z:-5.56 [[ 9.97219588e-01 7.41435068e-02 7.47215569e-03 2.30967175e+02] [-7.41397400e-02 9.97247557e-01 -7.80229841e-04 -2.75865461e+01] [-7.50943798e-03 2.24076801e-04 9.99971779e-01 -5.56371395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.99, Y:-27.59, Z:-5.56 [[ 9.97134913e-01 7.52179924e-02 8.01362704e-03 2.30994967e+02] [-7.52137022e-02 9.97167088e-01 -8.35834278e-04 -2.75919971e+01] [-8.05379492e-03 2.30704983e-04 9.99967541e-01 -5.56414974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:-27.60, Z:-5.56 [[ 9.96948270e-01 7.77597824e-02 6.89653584e-03 2.31023824e+02] [-7.77566678e-02 9.96972108e-01 -7.19009888e-04 -2.75995106e+01] [-6.93156393e-03 1.80564018e-04 9.99975960e-01 -5.56376119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:-27.60, Z:-5.56 [[ 9.96824839e-01 7.93297060e-02 6.85838376e-03 2.31051996e+02] [-7.93266614e-02 9.96848418e-01 -7.15255929e-04 -2.76043349e+01] [-6.89351005e-03 1.68932190e-04 9.99976225e-01 -5.56434055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.08, Y:-27.61, Z:-5.57 [[ 9.96493532e-01 8.34035188e-02 6.67030584e-03 2.31080332e+02] [-8.34007346e-02 9.96515848e-01 -6.94954659e-04 -2.76111198e+01] [-6.70502715e-03 1.36209415e-04 9.99977512e-01 -5.56529303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.11, Y:-27.62, Z:-5.57 [[ 9.96310447e-01 8.55611456e-02 6.69212584e-03 2.31108777e+02] [-8.55583903e-02 9.96332914e-01 -6.97459341e-04 -2.76154074e+01] [-6.72726066e-03 1.22318513e-04 9.99977364e-01 -5.56598768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.14, Y:-27.62, Z:-5.57 [[ 9.96079052e-01 8.82579715e-02 6.08714468e-03 2.31135934e+02] [-8.82557422e-02 9.96097647e-01 -6.34407084e-04 -2.76188265e+01] [-6.11938197e-03 9.46941347e-05 9.99981272e-01 -5.56831587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:-27.62, Z:-5.57 [[ 9.95659094e-01 9.28548864e-02 6.39827703e-03 2.31164767e+02] [-9.28525226e-02 9.95679650e-01 -6.66154886e-04 -2.76223552e+01] [-6.43248997e-03 6.91670080e-05 9.99979309e-01 -5.56715399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.19, Y:-27.63, Z:-5.57 [[ 9.95434407e-01 9.52901033e-02 5.48969666e-03 2.31193719e+02] [-9.52884007e-02 9.95449544e-01 -5.71458682e-04 -2.76270586e+01] [-5.51917040e-03 4.57452185e-05 9.99984768e-01 -5.56812913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41420382200002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:231.22, Y:-27.63, Z:-5.57 [[ 9.95043072e-01 9.93644151e-02 3.99975662e-03 2.31221983e+02] [-9.93635446e-02 9.95051111e-01 -4.16248610e-04 -2.76336623e+01] [-4.02132257e-03 1.67553000e-05 9.99991914e-01 -5.57210807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.25, Y:-27.64, Z:-5.57 [[ 9.94968915e-01 1.00064431e-01 4.89575664e-03 2.31249562e+02] [-1.00063135e-01 9.94980959e-01 -5.09564326e-04 -2.76373096e+01] [-4.92217390e-03 1.71159088e-05 9.99987886e-01 -5.57138098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.28, Y:-27.64, Z:-5.57 [[ 9.94883910e-01 1.00965108e-01 3.47156065e-03 2.31277916e+02] [-1.00964463e-01 9.94889967e-01 -3.61044305e-04 -2.76421319e+01] [-3.49027374e-03 8.69291305e-06 9.99993909e-01 -5.57295119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.31, Y:-27.65, Z:-5.57 [[ 9.94988265e-01 9.98866586e-02 4.58335391e-03 2.31305713e+02] [-9.98855225e-02 9.94998822e-01 -4.76679969e-04 -2.76461504e+01] [-4.60804571e-03 1.64802753e-05 9.99989383e-01 -5.57230920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.33, Y:-27.65, Z:-5.57 [[ 9.95089969e-01 9.88462923e-02 5.03624760e-03 2.31333871e+02] [-9.88449107e-02 9.95102713e-01 -5.23112038e-04 -2.76505793e+01] [-5.06329134e-03 2.27360969e-05 9.99987181e-01 -5.57240062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.36, Y:-27.66, Z:-5.57 [[ 9.95350833e-01 9.60488971e-02 7.16446698e-03 2.31361160e+02] [-9.60460332e-02 9.95376616e-01 -7.43531273e-04 -2.76557989e+01] [-7.20275825e-03 5.19558387e-05 9.99974058e-01 -5.57233252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:-27.66, Z:-5.57 [[ 9.95499455e-01 9.44957761e-02 7.16825318e-03 2.31389734e+02] [-9.44928735e-02 9.95525261e-01 -7.43284298e-04 -2.76604454e+01] [-7.20641434e-03 6.25902722e-05 9.99974032e-01 -5.57300247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.42, Y:-27.67, Z:-5.58 [[ 9.95605665e-01 9.34323934e-02 6.30459852e-03 2.31417764e+02] [-9.34301278e-02 9.95625624e-01 -6.53570466e-04 -2.76656117e+01] [-6.33808449e-03 6.16590133e-05 9.99979912e-01 -5.57565519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:231.45, Y:-27.67, Z:-5.58 [[ 9.95780333e-01 9.15185901e-02 6.77321951e-03 2.31446254e+02] [-9.15159337e-02 9.95803365e-01 -7.01737148e-04 -2.76727364e+01] [-6.80901677e-03 7.89185428e-05 9.99976815e-01 -5.57696278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:231.47, Y:-27.68, Z:-5.58 [[ 9.95840487e-01 9.08570181e-02 6.83575663e-03 2.31474330e+02] [-9.08543016e-02 9.95863944e-01 -7.07527989e-04 -2.76763784e+01] [-6.87176745e-03 8.35271222e-05 9.99976386e-01 -5.57683183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:-27.68, Z:-5.58 [[ 9.95903060e-01 9.01049411e-02 7.62855280e-03 2.31504091e+02] [-9.01015385e-02 9.95932272e-01 -7.89241292e-04 -2.76782590e+01] [-7.66863646e-03 9.86634741e-05 9.99970591e-01 -5.57528828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:-27.68, Z:-5.58 [[ 9.95886954e-01 9.02434724e-02 8.08019688e-03 2.31533378e+02] [-9.02396613e-02 9.95919728e-01 -8.35746144e-04 -2.76818566e+01] [-8.12264812e-03 1.03154452e-04 9.99967005e-01 -5.57611437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:-27.69, Z:-5.58 [[ 9.95785365e-01 9.13440077e-02 8.23281953e-03 2.31561681e+02] [-9.13400902e-02 9.95819393e-01 -8.51381304e-04 -2.76867480e+01] [-8.27616993e-03 9.58065645e-05 9.99965747e-01 -5.57695331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:-27.69, Z:-5.58 [[ 9.95713495e-01 9.21838765e-02 7.53447588e-03 2.31590343e+02] [-9.21806200e-02 9.95741998e-01 -7.79097950e-04 -2.76900373e+01] [-7.57421433e-03 8.12256859e-05 9.99971312e-01 -5.57732265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:-27.69, Z:-5.58 [[ 9.95605725e-01 9.34187957e-02 6.49377861e-03 2.31619885e+02] [-9.34164050e-02 9.95626900e-01 -6.71162246e-04 -2.76946517e+01] [-6.52807984e-03 6.15875220e-05 9.99978690e-01 -5.57858845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.65, Y:-27.70, Z:-5.58 [[ 9.95601700e-01 9.35156058e-02 5.66446604e-03 2.31649761e+02] [-9.35137886e-02 9.95617813e-01 -5.85399068e-04 -2.76984616e+01] [-5.69438724e-03 5.31186270e-05 9.99983785e-01 -5.57986432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.68, Y:-27.70, Z:-5.58 [[ 9.95605163e-01 9.34787365e-02 5.66445859e-03 2.31678936e+02] [-9.34769183e-02 9.95621275e-01 -5.85471368e-04 -2.77013914e+01] [-5.69438460e-03 5.34021839e-05 9.99983785e-01 -5.58053312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.71, Y:-27.70, Z:-5.58 [[ 9.95645555e-01 9.31176119e-02 4.36339453e-03 2.31707244e+02] [-9.31165294e-02 9.95655115e-01 -4.51023068e-04 -2.77041759e+01] [-4.38643428e-03 4.27549580e-05 9.99990379e-01 -5.58148937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:-27.71, Z:-5.58 [[ 9.95795736e-01 9.15009484e-02 4.29296718e-03 2.31736188e+02] [-9.14998852e-02 9.95804988e-01 -4.43821868e-04 -2.77058499e+01] [-4.31556826e-03 4.91499185e-05 9.99990687e-01 -5.58278895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.76, Y:-27.71, Z:-5.58 [[ 9.95886471e-01 9.04465673e-02 5.43643691e-03 2.31764045e+02] [-9.04448484e-02 9.95901307e-01 -5.61715100e-04 -2.77093266e+01] [-5.46495983e-03 6.77067568e-05 9.99985065e-01 -5.58364048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:-27.71, Z:-5.58 [[ 9.96167553e-01 8.72601877e-02 5.98886039e-03 2.31792076e+02] [-8.72580500e-02 9.96185551e-01 -6.17809135e-04 -2.77142214e+01] [-6.01992633e-03 9.28651347e-05 9.99981876e-01 -5.58432858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.82, Y:-27.72, Z:-5.59 [[ 9.96273236e-01 8.60576183e-02 5.80740034e-03 2.31821413e+02] [-8.60555900e-02 9.96290157e-01 -5.98698604e-04 -2.77177381e+01] [-5.83737837e-03 9.67081331e-05 9.99982958e-01 -5.58510633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:-27.72, Z:-5.59 [[ 9.96391344e-01 8.46754716e-02 5.86124623e-03 2.31850587e+02] [-8.46733825e-02 9.96408578e-01 -6.04110629e-04 -2.77209679e+01] [-5.89134937e-03 1.05639058e-04 9.99982640e-01 -5.58554429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.88, Y:-27.73, Z:-5.59 [[ 9.96608934e-01 8.19663314e-02 7.22171111e-03 2.31879514e+02] [-8.19630924e-02 9.96635088e-01 -7.43833645e-04 -2.77256215e+01] [-7.25838000e-03 1.49397481e-04 9.99973646e-01 -5.58571765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:-27.73, Z:-5.59 [[ 9.96787211e-01 7.98379849e-02 6.41498413e-03 2.31908971e+02] [-7.98353853e-02 9.96807842e-01 -6.60691976e-04 -2.77313570e+01] [-6.44725481e-03 1.46426582e-04 9.99979206e-01 -5.58582832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.94, Y:-27.74, Z:-5.59 [[ 9.96834773e-01 7.92874948e-02 5.82474684e-03 2.31938021e+02] [-7.92853426e-02 9.96851782e-01 -5.99851958e-04 -2.77361107e+01] [-5.85397002e-03 1.36136242e-04 9.99982856e-01 -5.58705075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:-27.74, Z:-5.59 [[ 9.96818921e-01 7.94850291e-02 5.84542778e-03 2.31967186e+02] [-7.94828641e-02 9.96836051e-01 -6.02129109e-04 -2.77409514e+01] [-5.87479339e-03 1.35602347e-04 9.99982734e-01 -5.58762009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.00, Y:-27.74, Z:-5.59 [[ 9.96593481e-01 8.21511987e-02 7.25352492e-03 2.31996406e+02] [-8.21479377e-02 9.96619867e-01 -7.46862842e-04 -2.77445143e+01] [-7.29036271e-03 1.48456527e-04 9.99973414e-01 -5.58883675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.03, Y:-27.75, Z:-5.59 [[ 9.96411661e-01 8.41588848e-02 9.00469731e-03 2.32025997e+02] [-8.41539460e-02 9.96452334e-01 -9.26640433e-04 -2.77468025e+01] [-9.05073668e-03 1.65534522e-04 9.99959028e-01 -5.58705330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.06, Y:-27.75, Z:-5.59 [[ 9.96012477e-01 8.88113532e-02 8.46700512e-03 2.32055859e+02] [-8.88071568e-02 9.96048458e-01 -8.71044317e-04 -2.77501412e+01] [-8.51090602e-03 1.15640356e-04 9.99963775e-01 -5.58795059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:-27.75, Z:-5.59 [[ 9.95827875e-01 9.09985708e-02 6.78994543e-03 2.32086177e+02] [-9.09959230e-02 9.95851020e-01 -6.98516570e-04 -2.77540619e+01] [-6.82533809e-03 7.77449202e-05 9.99976704e-01 -5.58929272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.12, Y:-27.76, Z:-5.59 [[ 9.95470786e-01 9.49546336e-02 4.64032927e-03 2.32115258e+02] [-9.49534379e-02 9.95481600e-01 -4.77819188e-04 -2.77569315e+01] [-4.66473355e-03 3.50398257e-05 9.99989119e-01 -5.59174206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.14, Y:-27.76, Z:-5.59 [[ 9.95273736e-01 9.69952859e-02 4.70161570e-03 2.32142760e+02] [-9.69940784e-02 9.95284841e-01 -4.84718626e-04 -2.77592433e+01] [-4.72646225e-03 2.63988364e-05 9.99988830e-01 -5.59246725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:-27.76, Z:-5.59 [[ 9.95077643e-01 9.89432650e-02 5.54210983e-03 2.32171287e+02] [-9.89416221e-02 9.95093076e-01 -5.70500976e-04 -2.77611126e+01] [-5.57136235e-03 1.93474301e-05 9.99984480e-01 -5.59241495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.20, Y:-27.76, Z:-5.59 [[ 9.94752742e-01 1.02105572e-01 6.43698745e-03 2.32199082e+02] [-1.02103424e-01 9.94773568e-01 -6.62351387e-04 -2.77588479e+01] [-6.47097474e-03 1.63739948e-06 9.99979063e-01 -5.59197488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:-27.76, Z:-5.59 [[ 9.94513857e-01 1.04416693e-01 6.27229998e-03 2.32226793e+02] [-1.04414701e-01 9.94533637e-01 -6.44992038e-04 -2.77577709e+01] [-6.30536124e-03 -1.34668091e-05 9.99980121e-01 -5.59243065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.26, Y:-27.76, Z:-5.59 [[ 9.94474668e-01 1.04783050e-01 6.37557981e-03 2.32255926e+02] [-1.04781005e-01 9.94495104e-01 -6.55005156e-04 -2.77597875e+01] [-6.40911634e-03 -1.66536221e-05 9.99979461e-01 -5.59344027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.28, Y:-27.76, Z:-5.59 [[ 9.94459684e-01 1.04891088e-01 6.91342968e-03 2.32283595e+02] [-1.04888687e-01 9.94483715e-01 -7.10017816e-04 -2.77615079e+01] [-6.94976777e-03 -1.90564682e-05 9.99975850e-01 -5.59458703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:-27.76, Z:-5.60 [[ 9.94662815e-01 1.02562338e-01 1.12628279e-02 2.32312323e+02] [-1.02630676e-01 9.94703396e-01 5.66560162e-03 -2.77634160e+01] [-1.06220958e-02 -6.79127489e-03 9.99920522e-01 -5.59660862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.34, Y:-27.76, Z:-5.60 [[ 9.94860666e-01 1.00849526e-01 9.03487826e-03 2.32343284e+02] [-1.00781376e-01 9.94878751e-01 -7.70613217e-03 -2.77567810e+01] [-9.76576818e-03 6.75598032e-03 9.99929491e-01 -5.59571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:-27.76, Z:-5.60 [[ 9.95076156e-01 9.85560413e-02 1.04952287e-02 2.32371935e+02] [-9.85501818e-02 9.95131502e-01 -1.07528297e-03 -2.77619215e+01] [-1.05501083e-02 3.56817434e-05 9.99944345e-01 -5.59661498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:-27.76, Z:-5.60 [[ 9.95563897e-01 9.36362106e-02 9.20804046e-03 2.32401830e+02] [-9.36314914e-02 9.95606476e-01 -9.43216039e-04 -2.77620291e+01] [-9.25590389e-03 7.68692732e-05 9.99957160e-01 -5.59787129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.43, Y:-27.76, Z:-5.60 [[ 9.95798419e-01 9.12205561e-02 8.01985820e-03 2.32431563e+02] [-9.12168989e-02 9.95830710e-01 -8.21383177e-04 -2.77641044e+01] [-8.06134812e-03 8.63854748e-05 9.99967503e-01 -5.59903106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:232.46, Y:-27.77, Z:-5.60 [[ 9.96175741e-01 8.70590604e-02 7.38999929e-03 2.32461553e+02] [-8.70558414e-02 9.96203146e-01 -7.56762288e-04 -2.77655165e+01] [-7.42782355e-03 1.10525627e-04 9.99972407e-01 -5.60313483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.49, Y:-27.77, Z:-5.60 [[ 9.96373707e-01 8.47057181e-02 8.02354702e-03 2.32490622e+02] [-8.47018488e-02 9.96406003e-01 -8.21442981e-04 -2.77671097e+01] [-8.06429133e-03 1.38854921e-04 9.99967473e-01 -5.60078419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:232.52, Y:-27.77, Z:-5.60 [[ 9.96759709e-01 8.00822811e-02 7.54397645e-03 2.32520247e+02] [-8.00787297e-02 9.96788243e-01 -7.72124447e-04 -2.77677245e+01] [-7.58158052e-03 1.65510487e-04 9.99971246e-01 -5.60465433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79420382200001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:232.55, Y:-27.77, Z:-5.61 [[ 9.96978898e-01 7.72719186e-02 7.88212373e-03 2.32549742e+02] [-7.72679557e-02 9.97010036e-01 -8.06522172e-04 -2.77708154e+01] [-7.92087799e-03 1.95049999e-04 9.99968610e-01 -5.60564192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.58, Y:-27.78, Z:-5.60 [[ 9.97405376e-01 7.13838741e-02 9.31976695e-03 2.32578615e+02] [-7.13780815e-02 9.97448876e-01 -9.53119958e-04 -2.77762768e+01] [-9.36402847e-03 2.85419886e-04 9.99956116e-01 -5.60465812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:-27.78, Z:-5.60 [[ 9.97570103e-01 6.90002389e-02 9.63617314e-03 2.32608961e+02] [-6.89939380e-02 9.97616593e-01 -9.85185895e-04 -2.77815714e+01] [-9.68118428e-03 3.17954464e-04 9.99953086e-01 -5.60333493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.64, Y:-27.79, Z:-5.60 [[ 9.97701845e-01 6.71278467e-02 9.21304450e-03 2.32639318e+02] [-6.71220087e-02 9.97744331e-01 -9.41760359e-04 -2.77868087e+01] [-9.25548126e-03 3.21197995e-04 9.99957116e-01 -5.60416730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:-27.79, Z:-5.61 [[ 9.97855779e-01 6.49128009e-02 8.37689036e-03 2.32668979e+02] [-6.49078944e-02 9.97890892e-01 -8.56541098e-04 -2.77927848e+01] [-8.41482307e-03 3.10978169e-04 9.99964546e-01 -5.60527586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382200002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:232.70, Y:-27.80, Z:-5.61 [[ 9.97897336e-01 6.43364933e-02 7.85640665e-03 2.32698590e+02] [-6.43321598e-02 9.97928218e-01 -8.03321386e-04 -2.77976405e+01] [-7.89181276e-03 2.96212663e-04 9.99968815e-01 -5.60876077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:-27.81, Z:-5.61 [[ 9.97948943e-01 6.33280062e-02 9.35254447e-03 2.32728391e+02] [-6.33218223e-02 9.97992702e-01 -9.56140506e-04 -2.78055847e+01] [-9.39432159e-03 3.61959249e-04 9.99955807e-01 -5.60622222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:-27.81, Z:-5.61 [[ 9.97950245e-01 6.33488022e-02 9.06849138e-03 2.32760396e+02] [-6.33430083e-02 9.97991387e-01 -9.24997507e-04 -2.78134412e+01] [-9.10887377e-03 3.48675965e-04 9.99958453e-01 -5.60704075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.79, Y:-27.82, Z:-5.61 [[ 9.97918397e-01 6.39041141e-02 8.66811081e-03 2.32790460e+02] [-6.38988283e-02 9.97955989e-01 -8.85670018e-04 -2.78221462e+01] [-8.70699105e-03 3.29944281e-04 9.99962039e-01 -5.60843035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:232.82, Y:-27.83, Z:-5.61 [[ 9.97690779e-01 6.74652172e-02 7.84563165e-03 2.32820074e+02] [-6.74609820e-02 9.97721590e-01 -8.03521756e-04 -2.78337292e+01] [-7.88196585e-03 2.72392232e-04 9.99968900e-01 -5.61150405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.85, Y:-27.84, Z:-5.61 [[ 9.97100487e-01 7.55584767e-02 9.02968457e-03 2.32849341e+02] [-7.55531772e-02 9.97141343e-01 -9.27073757e-04 -2.78414682e+01] [-9.07392008e-03 2.42164336e-04 9.99958802e-01 -5.60907042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:-27.85, Z:-5.61 [[ 9.96667425e-01 8.11088807e-02 8.68291417e-03 2.32879630e+02] [-8.11041885e-02 9.96705230e-01 -8.91731028e-04 -2.78458592e+01] [-8.72663327e-03 1.84538560e-04 9.99961905e-01 -5.60935853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.91, Y:-27.85, Z:-5.61 [[ 9.96148510e-01 8.73208442e-02 7.95092127e-03 2.32910071e+02] [-8.73171075e-02 9.96180233e-01 -8.16555717e-04 -2.78494568e+01] [-7.99185294e-03 1.19159313e-04 9.99968058e-01 -5.61007567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:-27.85, Z:-5.61 [[ 9.94934885e-01 1.00304798e-01 6.59708162e-03 2.32938225e+02] [-1.00302506e-01 9.94956757e-01 -6.78108610e-04 -2.78517521e+01] [-6.63182848e-03 1.29700917e-05 9.99978009e-01 -5.61121934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.97, Y:-27.85, Z:-5.61 [[ 9.94326789e-01 1.06185892e-01 6.22845361e-03 2.32967255e+02] [-1.06183967e-01 9.94346296e-01 -6.39837724e-04 -2.78546092e+01] [-6.26118151e-03 -2.51541215e-05 9.99980398e-01 -5.61210801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:-27.86, Z:-5.61 [[ 9.93207265e-01 1.16091208e-01 7.88418825e-03 2.32995985e+02] [-1.16088435e-01 9.93238551e-01 -8.09955884e-04 -2.78570304e+01] [-7.92490847e-03 -1.10809009e-04 9.99968591e-01 -5.61223002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:-27.86, Z:-5.61 [[ 9.92779186e-01 1.19659204e-01 8.43577952e-03 2.33023898e+02] [-1.19656161e-01 9.92815014e-01 -8.66397561e-04 -2.78584112e+01] [-8.47884101e-03 -1.49251525e-04 9.99964043e-01 -5.61297174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.05, Y:-27.86, Z:-5.61 [[ 9.92440694e-01 1.22454526e-01 8.14607346e-03 2.33052525e+02] [-1.22451789e-01 9.92474111e-01 -8.35836812e-04 -2.78596065e+01] [-8.18711902e-03 -1.67982802e-04 9.99966471e-01 -5.61366861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:-27.86, Z:-5.62 [[ 9.92215756e-01 1.24366285e-01 6.39692557e-03 2.33081408e+02] [-1.24364637e-01 9.92236366e-01 -6.56331508e-04 -2.78593955e+01] [-6.42888769e-03 -1.44328860e-04 9.99979324e-01 -5.61563205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.11, Y:-27.86, Z:-5.62 [[ 9.92318370e-01 1.23535998e-01 6.56575608e-03 2.33109477e+02] [-1.23534245e-01 9.92340081e-01 -6.73496195e-04 -2.78607904e+01] [-6.59866394e-03 -1.42773071e-04 9.99978218e-01 -5.61709763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:-27.86, Z:-5.62 [[ 9.92859023e-01 1.18962839e-01 8.87708915e-03 2.33138280e+02] [-1.18959462e-01 9.92898696e-01 -9.09365594e-04 -2.78610349e+01] [-8.92223095e-03 -1.53141909e-04 9.99960184e-01 -5.61779974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.17, Y:-27.86, Z:-5.62 [[ 9.93244524e-01 1.15628924e-01 9.76053734e-03 2.33165937e+02] [-1.15624684e-01 9.93292471e-01 -9.99429828e-04 -2.78631198e+01] [-9.81063126e-03 -1.35880843e-04 9.99951865e-01 -5.61826170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.19, Y:-27.87, Z:-5.62 [[ 9.93677962e-01 1.11797839e-01 1.02641049e-02 2.33194866e+02] [-1.11792956e-01 9.93730966e-01 -1.05011298e-03 -2.78653941e+01] [-1.03171593e-02 -1.03980505e-04 9.99946771e-01 -5.61819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.23, Y:-27.87, Z:-5.62 [[ 9.94593161e-01 1.03216425e-01 1.14373478e-02 2.33225213e+02] [-1.03209807e-01 9.94658921e-01 -1.16894550e-03 -2.78679720e+01] [-1.14969144e-02 -1.78212536e-05 9.99933908e-01 -5.61825349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:-27.87, Z:-5.62 [[ 9.95054783e-01 9.86720388e-02 1.13933504e-02 2.33255492e+02] [-9.86651736e-02 9.95120007e-01 -1.16444878e-03 -2.78712563e+01] [-1.14526494e-02 3.45634318e-05 9.99934416e-01 -5.61914481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.29, Y:-27.88, Z:-5.62 [[ 9.95823712e-01 9.06481872e-02 1.08646541e-02 2.33286053e+02] [-9.06414698e-02 9.95882971e-01 -1.11011800e-03 -2.78773615e+01] [-1.09205542e-02 1.20693618e-04 9.99940362e-01 -5.62070146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:-27.88, Z:-5.62 [[ 9.96123284e-01 8.72648105e-02 1.11021037e-02 2.33317567e+02] [-8.72575829e-02 9.96185137e-01 -1.13466819e-03 -2.78820983e+01] [-1.11587673e-02 1.61526668e-04 9.99937726e-01 -5.62113446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:-27.89, Z:-5.62 [[ 9.96516593e-01 8.25915246e-02 1.15464192e-02 2.33348334e+02] [-8.25834072e-02 9.96583459e-01 -1.17886399e-03 -2.78873405e+01] [-1.16043345e-02 2.21214894e-04 9.99932643e-01 -5.62210200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:-27.89, Z:-5.62 [[ 9.96625139e-01 8.13714418e-02 1.08175902e-02 2.33380534e+02] [-8.13642306e-02 9.96683821e-01 -1.10578373e-03 -2.78924014e+01] [-1.08716963e-02 2.21886964e-04 9.99940877e-01 -5.62250488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382200002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:233.41, Y:-27.90, Z:-5.63 [[ 9.96628491e-01 8.15626272e-02 8.89883050e-03 2.33411133e+02] [-8.15577458e-02 9.96668202e-01 -9.10676694e-04 -2.78984011e+01] [-8.94345858e-03 1.81837783e-04 9.99959990e-01 -5.62737163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.44, Y:-27.90, Z:-5.62 [[ 9.96535486e-01 8.26559918e-02 9.22021414e-03 2.33440895e+02] [-8.26507644e-02 9.96578122e-01 -9.47202180e-04 -2.79017658e+01] [-9.26695563e-03 1.81862838e-04 9.99957044e-01 -5.62454101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:-27.91, Z:-5.62 [[ 9.96378277e-01 8.44735553e-02 9.72359988e-03 2.33472275e+02] [-8.44678282e-02 9.96425706e-01 -9.98901054e-04 -2.79061130e+01] [-9.77322560e-03 1.73951946e-04 9.99952226e-01 -5.62481366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.50, Y:-27.91, Z:-5.62 [[ 9.95908086e-01 8.98171442e-02 9.99821617e-03 2.33502000e+02] [-8.98113525e-02 9.95958265e-01 -1.02766699e-03 -2.79110896e+01] [-1.00501081e-02 1.25508550e-04 9.99949489e-01 -5.62491118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:-27.91, Z:-5.63 [[ 9.95908263e-01 8.98151833e-02 9.99821358e-03 2.33532829e+02] [-8.98093913e-02 9.95958441e-01 -1.02769220e-03 -2.79142575e+01] [-1.00501076e-02 1.25553676e-04 9.99949489e-01 -5.62562158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:-27.92, Z:-5.63 [[ 9.95333351e-01 9.60560923e-02 9.20581590e-03 2.33562877e+02] [-9.60514491e-02 9.95375921e-01 -9.46201777e-04 -2.79171101e+01] [-9.25413593e-03 5.75542275e-05 9.99957178e-01 -5.62635644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:-27.92, Z:-5.63 [[ 9.95066242e-01 9.87893827e-02 9.15599374e-03 2.33592659e+02] [-9.87849038e-02 9.95108364e-01 -9.41248275e-04 -2.79204574e+01] [-9.20419129e-03 3.21304231e-05 9.99957640e-01 -5.62754984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.62, Y:-27.92, Z:-5.63 [[ 9.94815767e-01 1.01208199e-01 9.92419753e-03 2.33622997e+02] [-1.01203061e-01 9.94865267e-01 -1.01991743e-03 -2.79237870e+01] [-9.97646344e-03 1.02707787e-05 9.99950234e-01 -5.62860751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:-27.92, Z:-5.63 [[ 9.94383315e-01 1.05212025e-01 1.15001379e-02 2.33653029e+02] [-1.05205391e-01 9.94449812e-01 -1.18201700e-03 -2.79238815e+01] [-1.15606723e-02 -3.44985190e-05 9.99933173e-01 -5.62823636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.68, Y:-27.92, Z:-5.63 [[ 9.94203206e-01 1.06873581e-01 1.17483240e-02 2.33683200e+02] [-1.06866773e-01 9.94272616e-01 -1.20750475e-03 -2.79249554e+01] [-1.18100872e-02 -5.50003817e-05 9.99930257e-01 -5.62896328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:-27.93, Z:-5.63 [[ 9.94052388e-01 1.08462999e-01 9.77892570e-03 2.33713340e+02] [-1.08458364e-01 9.94100485e-01 -1.00463286e-03 -2.79272300e+01] [-9.83020027e-03 -6.19485914e-05 9.99951680e-01 -5.63047826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:-27.93, Z:-5.63 [[ 9.94093620e-01 1.08135445e-01 9.19786585e-03 2.33741907e+02] [-1.08131328e-01 9.94136169e-01 -9.45294467e-04 -2.79304106e+01] [-9.24615095e-03 -5.48662459e-05 9.99957252e-01 -5.63182048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.77, Y:-27.93, Z:-5.63 [[ 9.94259526e-01 1.06540293e-01 9.85698945e-03 2.33771170e+02] [-1.06535489e-01 9.94308385e-01 -1.01270329e-03 -2.79329409e+01] [-9.90878096e-03 -4.32293000e-05 9.99950906e-01 -5.63316060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:-27.94, Z:-5.63 [[ 9.94400692e-01 1.05152327e-01 1.05001162e-02 2.33800652e+02] [-1.05146801e-01 9.94456126e-01 -1.07849769e-03 -2.79353481e+01] [-1.05553114e-02 -3.15947803e-05 9.99944291e-01 -5.63421303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.83, Y:-27.94, Z:-5.63 [[ 9.94554771e-01 1.03657278e-01 1.07692065e-02 2.33829699e+02] [-1.03651382e-01 9.94613075e-01 -1.10571263e-03 -2.79375392e+01] [-1.08258088e-02 -1.65513690e-05 9.99941399e-01 -5.63472592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:233.86, Y:-27.94, Z:-5.64 [[ 9.94957493e-01 9.97174276e-02 1.07713055e-02 2.33858684e+02] [-9.97112996e-02 9.95015796e-01 -1.10579594e-03 -2.79400113e+01] [-1.08278862e-02 2.61990883e-05 9.99941376e-01 -5.63968041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.89, Y:-27.94, Z:-5.64 [[ 9.95198271e-01 9.73342092e-02 1.03176412e-02 2.33888630e+02] [-9.73284627e-02 9.95251752e-01 -1.05881189e-03 -2.79439021e+01] [-1.03717091e-02 4.95276086e-05 9.99946211e-01 -5.63701547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:-27.95, Z:-5.64 [[ 9.95636599e-01 9.27476141e-02 1.02782709e-02 2.33918815e+02] [-9.27416655e-02 9.95689646e-01 -1.05489665e-03 -2.79495543e+01] [-1.03318071e-02 9.70697489e-05 9.99946621e-01 -5.63799106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.95, Y:-27.95, Z:-5.64 [[ 9.95827329e-01 9.06854841e-02 1.02017023e-02 2.33949696e+02] [-9.06795162e-02 9.95879576e-01 -1.04699005e-03 -2.79534607e+01] [-1.02546138e-02 1.17535876e-04 9.99947413e-01 -5.63812320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:-27.96, Z:-5.64 [[ 9.95971635e-01 8.91102760e-02 9.99309434e-03 2.33980399e+02] [-8.91044680e-02 9.96021758e-01 -1.02581410e-03 -2.79566176e+01] [-1.00447500e-02 1.31252394e-04 9.99949542e-01 -5.63870085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.01, Y:-27.96, Z:-5.64 [[ 9.96146906e-01 8.72161025e-02 9.20294025e-03 2.34011657e+02] [-8.72110942e-02 9.96189406e-01 -9.44879003e-04 -2.79589476e+01] [-9.25028024e-03 1.38639806e-04 9.99957206e-01 -5.63960532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:-27.96, Z:-5.64 [[ 9.96172186e-01 8.69594588e-02 8.88981209e-03 2.34041703e+02] [-8.69547720e-02 9.96211842e-01 -9.13104574e-04 -2.79631304e+01] [-8.93553916e-03 1.36597796e-04 9.99960068e-01 -5.64059265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:-27.97, Z:-5.64 [[ 9.96131452e-01 8.74139992e-02 8.99576193e-03 2.34072707e+02] [-8.74092191e-02 9.96172061e-01 -9.23928498e-04 -2.79697545e+01] [-9.04209099e-03 1.34041710e-04 9.99959110e-01 -5.64138603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.10, Y:-27.97, Z:-5.64 [[ 9.96076950e-01 8.80059137e-02 9.25569290e-03 2.34103222e+02] [-8.80008808e-02 9.96119943e-01 -9.50427496e-04 -2.79741694e+01] [-9.30342352e-03 1.32189795e-04 9.99956713e-01 -5.64234720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:-27.98, Z:-5.64 [[ 9.96017441e-01 8.86557929e-02 9.45557701e-03 2.34134549e+02] [-8.86505599e-02 9.96062314e-01 -9.71966516e-04 -2.79785213e+01] [-9.50451438e-03 1.29853406e-04 9.99954823e-01 -5.64280020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:-27.98, Z:-5.64 [[ 9.95824978e-01 9.06476024e-02 1.07529379e-02 2.34166159e+02] [-9.06409472e-02 9.95883023e-01 -1.10566290e-03 -2.79805285e+01] [-1.08088940e-02 1.26390262e-04 9.99941574e-01 -5.64190506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:-27.98, Z:-5.64 [[ 9.95679057e-01 9.21714938e-02 1.12974218e-02 2.34196915e+02] [-9.21642405e-02 9.95743141e-01 -1.16209861e-03 -2.79809544e+01] [-1.13564426e-02 1.15858951e-04 9.99935507e-01 -5.64260412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.23, Y:-27.99, Z:-5.64 [[ 9.95683073e-01 9.21972190e-02 1.07187003e-02 2.34227594e+02] [-9.21906915e-02 9.95740760e-01 -1.10254348e-03 -2.79855974e+01] [-1.07746982e-02 1.09619486e-04 9.99941945e-01 -5.64373193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.26, Y:-27.99, Z:-5.64 [[ 9.95762074e-01 9.14096333e-02 1.01079792e-02 2.34258416e+02] [-9.14037950e-02 9.95813369e-01 -1.03902189e-03 -2.79911972e+01] [-1.01606374e-02 1.10710929e-04 9.99948373e-01 -5.64446854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.29, Y:-28.00, Z:-5.65 [[ 9.95863703e-01 9.02794620e-02 1.02520525e-02 2.34289735e+02] [-9.02733764e-02 9.95916464e-01 -1.05575228e-03 -2.79970214e+01] [-1.03055006e-02 1.25897980e-04 9.99946889e-01 -5.64604794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.32, Y:-28.00, Z:-5.65 [[ 9.96121540e-01 8.73888285e-02 1.02503676e-02 2.34320822e+02] [-8.73826079e-02 9.96174266e-01 -1.05403372e-03 -2.80048091e+01] [-1.03032632e-02 1.54241842e-04 9.99946908e-01 -5.64725729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.35, Y:-28.01, Z:-5.65 [[ 9.96469987e-01 8.33166974e-02 1.02904424e-02 2.34352752e+02] [-8.33101940e-02 9.96523100e-01 -1.05978223e-03 -2.80115608e+01] [-1.03429611e-02 1.98742432e-04 9.99946490e-01 -5.64801491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:-28.02, Z:-5.65 [[ 9.96654431e-01 8.10959991e-02 1.01677695e-02 2.34384607e+02] [-8.10895101e-02 9.96706271e-01 -1.04952186e-03 -2.80163389e+01] [-1.02193916e-02 2.21511168e-04 9.99947756e-01 -5.64880531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.42, Y:-28.02, Z:-5.65 [[ 9.96819710e-01 7.90952946e-02 9.71598498e-03 2.34417088e+02] [-7.90892732e-02 9.96867033e-01 -1.00300900e-03 -2.80225345e+01] [-9.76487840e-03 2.31388946e-04 9.99952296e-01 -5.64983832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:234.45, Y:-28.03, Z:-5.65 [[ 9.97071956e-01 7.60006974e-02 8.45037184e-03 2.34448416e+02] [-7.59960133e-02 9.97107738e-01 -8.74506091e-04 -2.80323501e+01] [-8.49239423e-03 2.29750928e-04 9.99963913e-01 -5.65416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.48, Y:-28.04, Z:-5.65 [[ 9.97094123e-01 7.56934073e-02 8.59170322e-03 2.34481459e+02] [-7.56885529e-02 9.97131111e-01 -8.89223151e-04 -2.80391408e+01] [-8.63436291e-03 2.36345593e-04 9.99962695e-01 -5.65195789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.51, Y:-28.05, Z:-5.65 [[ 9.97023233e-01 7.66617927e-02 8.22453064e-03 2.34513572e+02] [-7.66573661e-02 9.97057130e-01 -8.52583006e-04 -2.80485367e+01] [-8.26568746e-03 2.19574208e-04 9.99965815e-01 -5.65230671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:-28.05, Z:-5.65 [[ 9.96895263e-01 7.82191538e-02 9.03321775e-03 2.34545997e+02] [-7.82138576e-02 9.96936162e-01 -9.38637465e-04 -2.80543965e+01] [-9.07896087e-03 2.29200436e-04 9.99958759e-01 -5.65258718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.58, Y:-28.06, Z:-5.65 [[ 9.96703019e-01 8.05622883e-02 9.63375935e-03 2.34577786e+02] [-8.05563509e-02 9.96749551e-01 -1.00340152e-03 -2.80599283e+01] [-9.68328163e-03 2.24032824e-04 9.99953091e-01 -5.65315335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:234.61, Y:-28.07, Z:-5.66 [[ 9.96260195e-01 8.60320147e-02 8.00721017e-03 2.34609436e+02] [-8.60280829e-02 9.96292363e-01 -8.34814532e-04 -2.80664324e+01] [-8.04934312e-03 1.42847549e-04 9.99967593e-01 -5.65779371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.64, Y:-28.07, Z:-5.66 [[ 9.95976324e-01 8.92986016e-02 7.54465536e-03 2.34640863e+02] [-8.92951958e-02 9.96004893e-01 -7.87745320e-04 -2.80718783e+01] [-7.58485821e-03 1.10874211e-04 9.99971228e-01 -5.65631993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.67, Y:-28.08, Z:-5.66 [[ 9.95437483e-01 9.51061227e-02 7.68400015e-03 2.34672264e+02] [-9.51027505e-02 9.95467137e-01 -8.03900069e-04 -2.80780181e+01] [-7.72562545e-03 6.94627125e-05 9.99970154e-01 -5.65759160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:-28.08, Z:-5.66 [[ 9.95157342e-01 9.79768030e-02 7.90003907e-03 2.34704168e+02] [-9.79733178e-02 9.95188697e-01 -8.27894432e-04 -2.80821728e+01] [-7.94314404e-03 4.98921844e-05 9.99968451e-01 -5.65776542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.74, Y:-28.09, Z:-5.66 [[ 9.94912493e-01 1.00427735e-01 7.96243375e-03 2.34736667e+02] [-1.00424262e-01 9.94944355e-01 -8.35796464e-04 -2.80853622e+01] [-8.00611565e-03 3.19228086e-05 9.99967950e-01 -5.65833828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.77, Y:-28.09, Z:-5.66 [[ 9.94483892e-01 1.04655420e-01 7.00229883e-03 2.34768335e+02] [-1.04652835e-01 9.94508543e-01 -7.35682423e-04 -2.80889511e+01] [-7.04083916e-03 -1.18610167e-06 9.99975213e-01 -5.65922443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:-28.09, Z:-5.66 [[ 9.94283011e-01 1.06580252e-01 6.47641149e-03 2.34799291e+02] [-1.06578075e-01 9.94304103e-01 -6.81433039e-04 -2.80932543e+01] [-6.51214982e-03 -1.27061746e-05 9.99978796e-01 -5.66036491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.83, Y:-28.10, Z:-5.66 [[ 9.94026092e-01 1.08999925e-01 5.58069472e-03 2.34830388e+02] [-1.08998331e-01 9.94041758e-01 -5.89813352e-04 -2.80981304e+01] [-5.61173320e-03 -2.19965504e-05 9.99984254e-01 -5.66190674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.86, Y:-28.10, Z:-5.66 [[ 9.93945841e-01 1.09735971e-01 5.44817863e-03 2.34861340e+02] [-1.09734463e-01 9.93960772e-01 -5.75928508e-04 -2.81014631e+01] [-5.47847591e-03 -2.54112093e-05 9.99984993e-01 -5.66273809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.89, Y:-28.10, Z:-5.66 [[ 9.93888101e-01 1.10225265e-01 6.06901241e-03 2.34891960e+02] [-1.10223400e-01 9.93906630e-01 -6.41980463e-04 -2.81033877e+01] [-6.10279414e-03 -3.08904381e-05 9.99981377e-01 -5.66317929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.92, Y:-28.11, Z:-5.66 [[ 9.93911647e-01 1.10027919e-01 5.78745712e-03 2.34923199e+02] [-1.10026221e-01 9.93928497e-01 -6.12047271e-04 -2.81067273e+01] [-5.81966084e-03 -2.84511220e-05 9.99983065e-01 -5.66401603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:-28.11, Z:-5.67 [[ 9.93996208e-01 1.09240281e-01 6.17248449e-03 2.34953196e+02] [-1.09238331e-01 9.94015372e-01 -6.53160447e-04 -2.81098463e+01] [-6.20689590e-03 -2.50328959e-05 9.99980737e-01 -5.66508198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.98, Y:-28.11, Z:-5.67 [[ 9.94228266e-01 1.07024410e-01 7.47865535e-03 2.34983352e+02] [-1.07021489e-01 9.94256393e-01 -7.90806936e-04 -2.81125348e+01] [-7.52033654e-03 -1.41342227e-05 9.99971722e-01 -5.66531046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:-28.12, Z:-5.67 [[ 9.94352556e-01 1.05843600e-01 7.75416599e-03 2.35014339e+02] [-1.05840417e-01 9.94382790e-01 -8.20978819e-04 -2.81155759e+01] [-7.79750456e-03 -4.36177037e-06 9.99969599e-01 -5.66613386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:-28.12, Z:-5.67 [[ 9.94610040e-01 1.03436510e-01 7.19417156e-03 2.35045906e+02] [-1.03433720e-01 9.94636058e-01 -7.59775876e-04 -2.81171704e+01] [-7.23417101e-03 1.15607880e-05 9.99973833e-01 -5.66691393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.08, Y:-28.12, Z:-5.67 [[ 9.94710191e-01 1.02483234e-01 6.98731742e-03 2.35078047e+02] [-1.02480574e-01 9.94734732e-01 -7.38642855e-04 -2.81206264e+01] [-7.02622582e-03 1.86712782e-05 9.99975316e-01 -5.66775680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.11, Y:-28.13, Z:-5.67 [[ 9.94868748e-01 1.00860241e-01 7.96156644e-03 2.35109505e+02] [-1.00856720e-01 9.94900603e-01 -8.43548384e-04 -2.81250576e+01] [-8.00604775e-03 3.62424451e-05 9.99967950e-01 -5.66897390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:-28.13, Z:-5.67 [[ 9.94937292e-01 1.00147365e-01 8.38395442e-03 2.35141086e+02] [-1.00143422e-01 9.94972614e-01 -8.89966090e-04 -2.81282812e+01] [-8.43093280e-03 4.58625696e-05 9.99964458e-01 -5.66866092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:-28.13, Z:-5.67 [[ 9.95086229e-01 9.84780058e-02 1.02703238e-02 2.35173045e+02] [-9.84719711e-02 9.95139225e-01 -1.09285630e-03 -2.81296022e+01] [-1.03280244e-02 7.61472196e-05 9.99946662e-01 -5.66869106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.20, Y:-28.13, Z:-5.67 [[ 9.95151739e-01 9.77884678e-02 1.05086395e-02 2.35204825e+02] [-9.77820846e-02 9.95207219e-01 -1.12074398e-03 -2.81328941e+01] [-1.05678697e-02 8.77536480e-05 9.99944155e-01 -5.66938258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:-28.14, Z:-5.67 [[ 9.95176128e-01 9.75621858e-02 1.03002194e-02 2.35237230e+02] [-9.75560371e-02 9.95229427e-01 -1.09891197e-03 -2.81366936e+01] [-1.03582937e-02 8.87623709e-05 9.99946347e-01 -5.66967901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.27, Y:-28.14, Z:-5.67 [[ 9.95105518e-01 9.83324182e-02 9.78486894e-03 2.35268904e+02] [-9.83268877e-02 9.95153621e-01 -1.04585264e-03 -2.81390194e+01] [-9.84028898e-03 7.86180257e-05 9.99951580e-01 -5.67091289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.30, Y:-28.14, Z:-5.67 [[ 9.95009077e-01 9.93829936e-02 8.94192477e-03 2.35300635e+02] [-9.93784077e-02 9.95049253e-01 -9.56839103e-04 -2.81415537e+01] [-8.99274910e-03 6.34293477e-05 9.99959562e-01 -5.67451332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:-28.14, Z:-5.67 [[ 9.94773176e-01 1.01733984e-01 8.74782322e-03 2.35332145e+02] [-1.01729665e-01 9.94811638e-01 -9.38524690e-04 -2.81437885e+01] [-8.79791620e-03 4.37060650e-05 9.99961297e-01 -5.67401745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.36, Y:-28.15, Z:-5.67 [[ 9.94631334e-01 1.03127653e-01 8.55552342e-03 2.35363812e+02] [-1.03123575e-01 9.94668129e-01 -9.17690109e-04 -2.81459570e+01] [-8.60454570e-03 3.04871785e-05 9.99962980e-01 -5.67406244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:-28.15, Z:-5.67 [[ 9.94478628e-01 1.04503488e-01 9.55404079e-03 2.35394016e+02] [-1.04498432e-01 9.94524520e-01 -1.02828739e-03 -2.81473056e+01] [-9.60918745e-03 2.42275524e-05 9.99953830e-01 -5.67466282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:-28.15, Z:-5.67 [[ 9.94188503e-01 1.07188561e-01 9.99167941e-03 2.35425255e+02] [-1.07183156e-01 9.94238710e-01 -1.07646667e-03 -2.81465442e+01] [-1.00494994e-02 -7.28946054e-07 9.99949503e-01 -5.67477795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:-28.15, Z:-5.68 [[ 9.94044067e-01 1.08536069e-01 9.81395106e-03 2.35456503e+02] [-1.08530918e-01 9.94092512e-01 -1.05754845e-03 -2.81476528e+01] [-9.87075741e-03 -1.38673543e-05 9.99951283e-01 -5.67525258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.49, Y:-28.15, Z:-5.68 [[ 9.93808419e-01 1.10818278e-01 8.00849357e-03 2.35488321e+02] [-1.10814921e-01 9.93840686e-01 -8.63088761e-04 -2.81469721e+01] [-8.05481275e-03 -2.97157016e-05 9.99967559e-01 -5.67665579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:-28.15, Z:-5.68 [[ 9.93807072e-01 1.10830357e-01 8.00845301e-03 2.35519134e+02] [-1.10826997e-01 9.93839339e-01 -8.63464917e-04 -2.81503004e+01] [-8.05481376e-03 -2.94352551e-05 9.99967559e-01 -5.67736622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.55, Y:-28.15, Z:-5.68 [[ 9.93740585e-01 1.11465673e-01 7.41976714e-03 2.35549805e+02] [-1.11462805e-01 9.93768284e-01 -8.00252664e-04 -2.81519599e+01] [-7.46272996e-03 -3.17845055e-05 9.99972153e-01 -5.67832855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.58, Y:-28.15, Z:-5.68 [[ 9.93755932e-01 1.11245327e-01 8.58054986e-03 2.35579711e+02] [-1.11241479e-01 9.93792974e-01 -9.25799091e-04 -2.81508429e+01] [-8.63028100e-03 -3.44947237e-05 9.99962758e-01 -5.67883311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.61, Y:-28.15, Z:-5.68 [[ 9.93814205e-01 1.10695979e-01 8.92899881e-03 2.35609185e+02] [-1.10691794e-01 9.93854315e-01 -9.62978937e-04 -2.81516920e+01] [-8.98072189e-03 -3.13447530e-05 9.99959672e-01 -5.67938491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.64, Y:-28.15, Z:-5.68 [[ 9.94160084e-01 1.07577971e-01 8.52692035e-03 2.35638354e+02] [-1.07574041e-01 9.94196651e-01 -9.19521000e-04 -2.81517611e+01] [-8.57635586e-03 -3.12420614e-06 9.99963222e-01 -5.68048681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:-28.15, Z:-5.68 [[ 9.94371420e-01 1.05617644e-01 8.39001720e-03 2.35668745e+02] [-1.05613772e-01 9.94406815e-01 -9.04485842e-04 -2.81535683e+01] [-8.43861994e-03 1.32935102e-05 9.99964394e-01 -5.68152015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.70, Y:-28.15, Z:-5.68 [[ 9.94618917e-01 1.03250774e-01 8.51393796e-03 2.35698132e+02] [-1.03246698e-01 9.94655356e-01 -9.18015153e-04 -2.81544031e+01] [-8.56321976e-03 3.40392547e-05 9.99963334e-01 -5.68247406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.73, Y:-28.15, Z:-5.68 [[ 9.95040165e-01 9.90808221e-02 8.83524225e-03 2.35728782e+02] [-9.90762712e-02 9.95079387e-01 -9.52378041e-04 -2.81539606e+01] [-8.88612984e-03 7.22915457e-05 9.99960515e-01 -5.68375616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.76, Y:-28.16, Z:-5.68 [[ 9.95213537e-01 9.72527774e-02 9.58710734e-03 2.35759151e+02] [-9.72473341e-02 9.95259709e-01 -1.03342390e-03 -2.81562269e+01] [-9.64216501e-03 9.61568246e-05 9.99953509e-01 -5.68432309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.79, Y:-28.16, Z:-5.68 [[ 9.95495083e-01 9.41118957e-02 1.15105012e-02 2.35789306e+02] [-9.41038392e-02 9.95561614e-01 -1.24075247e-03 -2.81577451e+01] [-1.15761828e-02 1.51980622e-04 9.99932982e-01 -5.68405596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:-28.16, Z:-5.68 [[ 9.95563166e-01 9.33791261e-02 1.15896766e-02 2.35820032e+02] [-9.33709295e-02 9.95630611e-01 -1.24750201e-03 -2.81611736e+01] [-1.16555274e-02 1.59828173e-04 9.99932059e-01 -5.68397041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.85, Y:-28.16, Z:-5.68 [[ 9.95612824e-01 9.29020934e-02 1.11492199e-02 2.35850981e+02] [-9.28944589e-02 9.95675236e-01 -1.20179786e-03 -2.81623235e+01] [-1.12126516e-02 1.60824616e-04 9.99937123e-01 -5.68442272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:-28.16, Z:-5.68 [[ 9.95586325e-01 9.32559511e-02 1.05450284e-02 2.35882091e+02] [-9.32491064e-02 9.95642157e-01 -1.13998442e-03 -2.81624291e+01] [-1.06053851e-02 1.51638429e-04 9.99943750e-01 -5.68495137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:-28.16, Z:-5.69 [[ 9.95533506e-01 9.39335186e-02 9.46217234e-03 2.35912339e+02] [-9.39280381e-02 9.95578464e-01 -1.02292082e-03 -2.81619139e+01] [-9.51642156e-03 1.29588666e-04 9.99954709e-01 -5.68585416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.94, Y:-28.17, Z:-5.69 [[ 9.95393466e-01 9.52966049e-02 1.05073752e-02 2.35941039e+02] [-9.53988728e-02 9.95391837e-01 9.70291225e-03 -2.81651237e+01] [-9.53430091e-03 -1.06606072e-02 9.99897719e-01 -5.68801053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:-28.15, Z:-5.69 [[ 9.95345234e-01 9.61889094e-02 5.96314991e-03 2.35972606e+02] [-9.61162862e-02 9.95304147e-01 -1.14592254e-02 -2.81544440e+01] [-7.03739823e-03 1.08327295e-02 9.99916560e-01 -5.68926199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.00, Y:-28.16, Z:-5.69 [[ 9.95385069e-01 9.56828313e-02 7.30476307e-03 2.36001337e+02] [-9.56796099e-02 9.95411869e-01 -7.89995705e-04 -2.81589366e+01] [-7.34683688e-03 8.74330491e-05 9.99973008e-01 -5.69024508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:-28.16, Z:-5.69 [[ 9.95420941e-01 9.53122416e-02 7.26126309e-03 2.36030004e+02] [-9.53090505e-02 9.95447421e-01 -7.85027343e-04 -2.81592354e+01] [-7.30302833e-03 8.93685668e-05 9.99973329e-01 -5.69132475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.06, Y:-28.16, Z:-5.69 [[ 9.95552527e-01 9.39815761e-02 6.52914124e-03 2.36059360e+02] [-9.39789673e-02 9.95573933e-01 -7.05909795e-04 -2.81566513e+01] [-6.56658534e-03 8.91683290e-05 9.99978436e-01 -5.69205075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:-28.16, Z:-5.69 [[ 9.95653676e-01 9.29255061e-02 6.21358696e-03 2.36087745e+02] [-9.29231223e-02 9.95673060e-01 -6.71872253e-04 -2.81573058e+01] [-6.24913521e-03 9.15661772e-05 9.99980470e-01 -5.69287770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.12, Y:-28.16, Z:-5.69 [[ 9.96011874e-01 8.90582423e-02 5.38292031e-03 2.36117532e+02] [-8.90564017e-02 9.96026415e-01 -5.81143086e-04 -2.81592305e+01] [-5.41328641e-03 9.94419005e-05 9.99985343e-01 -5.69385077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:-28.16, Z:-5.69 [[ 9.96207568e-01 8.68357688e-02 5.48001187e-03 2.36145501e+02] [-8.68338250e-02 9.96222634e-01 -5.92091656e-04 -2.81618986e+01] [-5.51072660e-03 1.13995797e-04 9.99984809e-01 -5.69449172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:-28.16, Z:-5.70 [[ 9.96405038e-01 8.45449252e-02 5.39964191e-03 2.36174583e+02] [-8.45430069e-02 9.96419661e-01 -5.82939390e-04 -2.81644908e+01] [-5.42959393e-03 1.24341781e-04 9.99985252e-01 -5.69521772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.20, Y:-28.17, Z:-5.70 [[ 9.96726995e-01 8.06554983e-02 5.47606285e-03 2.36203427e+02] [-8.06534694e-02 9.96742027e-01 -5.90690788e-04 -2.81665102e+01] [-5.50586445e-03 1.47093987e-04 9.99984832e-01 -5.69678080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:-28.17, Z:-5.70 [[ 9.96877036e-01 7.87651154e-02 5.67736649e-03 2.36232845e+02] [-7.87629065e-02 9.96893189e-01 -6.11953894e-04 -2.81697599e+01] [-5.70792860e-03 1.62876897e-04 9.99983696e-01 -5.69740177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.26, Y:-28.17, Z:-5.70 [[ 9.97014641e-01 7.69198061e-02 6.71927053e-03 2.36262033e+02] [-7.69166720e-02 9.97037262e-01 -7.23998881e-04 -2.81729150e+01] [-6.75505294e-03 2.05013557e-04 9.99977163e-01 -5.69760028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:-28.18, Z:-5.70 [[ 9.97009908e-01 7.70467748e-02 5.91928102e-03 2.36291818e+02] [-7.70443451e-02 9.97027463e-01 -6.37737653e-04 -2.81759757e+01] [-5.95082137e-03 1.79783629e-04 9.99982278e-01 -5.69833793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514203822 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:236.32, Y:-28.18, Z:-5.70 [[ 9.96977005e-01 7.75907884e-02 4.06452030e-03 2.36321175e+02] [-7.75896470e-02 9.96985283e-01 -4.37979625e-04 -2.81802031e+01] [-4.08625011e-03 1.21290919e-04 9.99991644e-01 -5.70099062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:-28.19, Z:-5.70 [[ 9.96720433e-01 8.08644626e-02 3.05237929e-03 2.36349254e+02] [-8.08638325e-02 9.96725104e-01 -3.29497330e-04 -2.81871513e+01] [-3.06902769e-03 8.15896340e-05 9.99995287e-01 -5.70067551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.38, Y:-28.19, Z:-5.70 [[ 9.96309586e-01 8.57714670e-02 3.23487292e-03 2.36377540e+02] [-8.57707851e-02 9.96314835e-01 -3.49206275e-04 -2.81877555e+01] [-3.25290382e-03 7.04599687e-05 9.99994707e-01 -5.70123753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.40, Y:-28.19, Z:-5.70 [[ 9.96081599e-01 8.83952161e-02 2.78104978e-03 2.36404969e+02] [-8.83947224e-02 9.96085480e-01 -3.00192412e-04 -2.81900407e+01] [-2.79669887e-03 5.31860150e-05 9.99996088e-01 -5.70233497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:-28.19, Z:-5.70 [[ 9.95885494e-01 9.05958152e-02 2.11672103e-03 2.36433554e+02] [-9.05955348e-02 9.95887743e-01 -2.28185116e-04 -2.81930173e+01] [-2.12868915e-03 3.54807735e-05 9.99997734e-01 -5.70316140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.46, Y:-28.19, Z:-5.70 [[ 9.95596681e-01 9.37262644e-02 1.62332642e-03 2.36461689e+02] [-9.37261026e-02 9.95598005e-01 -1.75644625e-04 -2.81946209e+01] [-1.63264306e-03 2.27231467e-05 9.99998667e-01 -5.70378087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:-28.20, Z:-5.71 [[ 9.95495852e-01 9.47986632e-02 1.10561953e-03 2.36490176e+02] [-9.47985887e-02 9.95496466e-01 -1.19718930e-04 -2.81967510e+01] [-1.11198953e-03 1.43685271e-05 9.99999382e-01 -5.70500152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:-28.20, Z:-5.71 [[ 9.95403754e-01 9.57656362e-02 -5.56259437e-04 2.36518609e+02] [-9.57656185e-02 9.95403909e-01 5.85354694e-05 -2.82000745e+01] [ 5.59308505e-04 -4.99589691e-06 9.99999844e-01 -5.70561154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:-28.20, Z:-5.71 [[ 9.95392451e-01 9.58841587e-02 3.10709235e-04 2.36546373e+02] [-9.58841525e-02 9.95392500e-01 -3.47065698e-05 -2.82032807e+01] [-3.12605452e-04 4.75456592e-06 9.99999951e-01 -5.70703024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.57, Y:-28.21, Z:-5.71 [[ 9.95410100e-01 9.56943547e-02 1.15027439e-03 2.36574024e+02] [-9.56942746e-02 9.95410765e-01 -1.24608356e-04 -2.82060181e+01] [-1.15691982e-03 1.39617431e-05 9.99999331e-01 -5.70759021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.60, Y:-28.21, Z:-5.71 [[ 9.95508671e-01 9.46627009e-02 1.20775315e-03 2.36602807e+02] [-9.46626123e-02 9.95509404e-01 -1.30451666e-04 -2.82084990e+01] [-1.21467853e-03 1.55366968e-05 9.99999262e-01 -5.70813555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:-28.21, Z:-5.71 [[ 9.95621682e-01 9.34675605e-02 1.13192028e-03 2.36631617e+02] [-9.34674819e-02 9.95622325e-01 -1.22272938e-04 -2.82117751e+01] [-1.13839365e-03 1.59398500e-05 9.99999352e-01 -5.70830709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:-28.22, Z:-5.71 [[ 9.95840952e-01 9.10788235e-02 2.33377674e-03 2.36659903e+02] [-9.10784858e-02 9.95843686e-01 -2.50790504e-04 -2.82169888e+01] [-2.34691854e-03 3.71906018e-05 9.99997245e-01 -5.70877900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.69, Y:-28.22, Z:-5.71 [[ 9.95932448e-01 9.00572953e-02 2.87099861e-03 2.36687343e+02] [-9.00567804e-02 9.95936585e-01 -3.08363641e-04 -2.82203676e+01] [-2.88710295e-03 4.85564638e-05 9.99995831e-01 -5.70897865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.71, Y:-28.22, Z:-5.71 [[ 9.95958974e-01 8.97640857e-02 2.85140287e-03 2.36714902e+02] [-8.97635772e-02 9.95963055e-01 -3.06078320e-04 -2.82234389e+01] [-2.86736676e-03 4.88893279e-05 9.99995888e-01 -5.70973437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:-28.23, Z:-5.71 [[ 9.95903389e-01 9.03691628e-02 3.13918414e-03 2.36743218e+02] [-9.03685512e-02 9.95908335e-01 -3.36407703e-04 -2.82272983e+01] [-3.15674053e-03 5.13460485e-05 9.99995016e-01 -5.71100112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.77, Y:-28.23, Z:-5.71 [[ 9.95757782e-01 9.19339320e-02 3.81993293e-03 2.36771302e+02] [-9.19330396e-02 9.95765107e-01 -4.08934776e-04 -2.82333906e+01] [-3.84135091e-03 5.60219401e-05 9.99992620e-01 -5.71241319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.80, Y:-28.24, Z:-5.71 [[ 9.95641347e-01 9.32130695e-02 3.10359949e-03 2.36799432e+02] [-9.32124863e-02 9.95646183e-01 -3.32337932e-04 -2.82374351e+01] [-3.12106523e-03 4.15951608e-05 9.99995129e-01 -5.71294725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:-28.24, Z:-5.71 [[ 9.95398706e-01 9.57886139e-02 2.44090876e-03 2.36826862e+02] [-9.57882601e-02 9.95401698e-01 -2.61747406e-04 -2.82414515e+01] [-2.45475714e-03 2.67326261e-05 9.99996987e-01 -5.71449697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:-28.24, Z:-5.72 [[ 9.95315859e-01 9.66293370e-02 3.01873676e-03 2.36854473e+02] [-9.66288014e-02 9.95320436e-01 -3.23132699e-04 -2.82445952e+01] [-3.03583449e-03 2.99221844e-05 9.99995391e-01 -5.71502130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.88, Y:-28.25, Z:-5.72 [[ 9.95245919e-01 9.73310572e-02 3.49644782e-03 2.36881985e+02] [-9.73303445e-02 9.95252061e-01 -3.73823541e-04 -2.82472394e+01] [-3.51623154e-03 3.17358825e-05 9.99993818e-01 -5.71542885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.91, Y:-28.25, Z:-5.72 [[ 9.95156877e-01 9.82899497e-02 1.36986025e-03 2.36910088e+02] [-9.82898406e-02 9.95157819e-01 -1.46934131e-04 -2.82507105e+01] [-1.37766929e-03 1.15791657e-05 9.99999051e-01 -5.71776520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.94, Y:-28.26, Z:-5.72 [[ 9.95137001e-01 9.84962965e-02 9.10192863e-04 2.36938216e+02] [-9.84962481e-02 9.95137417e-01 -9.79609951e-05 -2.82556014e+01] [-9.15415771e-04 7.83402880e-06 9.99999581e-01 -5.71762878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.97, Y:-28.26, Z:-5.72 [[ 9.95094025e-01 9.89163730e-02 1.85274073e-03 2.36966557e+02] [-9.89161753e-02 9.95095750e-01 -1.98239936e-04 -2.82605198e+01] [-1.86326360e-03 1.40013489e-05 9.99998264e-01 -5.71883354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.99, Y:-28.26, Z:-5.72 [[ 9.95085124e-01 9.89891099e-02 2.59846748e-03 2.36994312e+02] [-9.89887222e-02 9.95088517e-01 -2.77718306e-04 -2.82645954e+01] [-2.61319624e-03 1.91343792e-05 9.99996585e-01 -5.72002669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:-28.27, Z:-5.72 [[ 9.95056537e-01 9.92631090e-02 3.05354550e-03 2.37023076e+02] [-9.92625770e-02 9.95061222e-01 -3.25632515e-04 -2.82680645e+01] [-3.07078801e-03 2.09199680e-05 9.99995285e-01 -5.71965382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.05, Y:-28.27, Z:-5.72 [[ 9.94983289e-01 9.99940506e-02 3.07308150e-03 2.37052248e+02] [-9.99935159e-02 9.94988035e-01 -3.27556330e-04 -2.82696935e+01] [-3.09043301e-03 1.86248511e-05 9.99995224e-01 -5.71993706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:-28.27, Z:-5.72 [[ 9.94799832e-01 1.01818130e-01 2.52256305e-03 2.37079651e+02] [-1.01817775e-01 9.94803030e-01 -2.69192884e-04 -2.82719392e+01] [-2.53686208e-03 1.09512798e-05 9.99996782e-01 -5.72224228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.11, Y:-28.28, Z:-5.72 [[ 9.94750002e-01 1.02314887e-01 2.02436138e-03 2.37107974e+02] [-1.02314659e-01 9.94752062e-01 -2.15945145e-04 -2.82762014e+01] [-2.03583206e-03 7.68958907e-06 9.99997928e-01 -5.72327274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.14, Y:-28.28, Z:-5.72 [[ 9.94695463e-01 1.02847469e-01 1.82608130e-03 2.37135908e+02] [-1.02847284e-01 9.94697139e-01 -1.95237839e-04 -2.82801632e+01] [-1.83647757e-03 6.39469034e-06 9.99998314e-01 -5.72402973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:-28.28, Z:-5.73 [[ 9.94645514e-01 1.03335807e-01 1.41887378e-03 2.37165027e+02] [-1.03335696e-01 9.94646526e-01 -1.51477079e-04 -2.82833716e+01] [-1.42693088e-03 4.04568752e-06 9.99998982e-01 -5.72567333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:-28.29, Z:-5.73 [[ 9.94655745e-01 1.03243739e-01 8.23687761e-04 2.37193411e+02] [-1.03243701e-01 9.94656087e-01 -8.83953606e-05 -2.82862743e+01] [-8.28412312e-04 2.88238047e-06 9.99999657e-01 -5.72665783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:-28.29, Z:-5.73 [[ 9.94622285e-01 1.03568129e-01 -3.90714802e-04 2.37220837e+02] [-1.03568121e-01 9.94622362e-01 3.99750748e-05 -2.82879438e+01] [ 3.92753823e-04 7.05497764e-07 9.99999923e-01 -5.72763094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:-28.29, Z:-5.73 [[ 9.94598421e-01 1.03797687e-01 -1.42132825e-04 2.37249279e+02] [-1.03797686e-01 9.94598432e-01 1.39653438e-05 -2.82901905e+01] [ 1.42814654e-04 8.63149426e-07 9.99999990e-01 -5.72862351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.28, Y:-28.29, Z:-5.73 [[ 9.94615065e-01 1.03637062e-01 4.82284871e-04 2.37278310e+02] [-1.03637049e-01 9.94615182e-01 -5.21437736e-05 -2.82930199e+01] [-4.85091883e-04 1.88040174e-06 9.99999882e-01 -5.73014758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.31, Y:-28.30, Z:-5.73 [[ 9.94664209e-01 1.03164369e-01 4.73235949e-04 2.37307215e+02] [-1.03164357e-01 9.94664322e-01 -5.11675753e-05 -2.82969892e+01] [-4.75989586e-04 2.07347357e-06 9.99999887e-01 -5.73085562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:-28.30, Z:-5.73 [[ 9.94667986e-01 1.03127947e-01 4.73267348e-04 2.37336383e+02] [-1.03127935e-01 9.94668099e-01 -5.08707849e-05 -2.82999902e+01] [-4.75990133e-04 1.79245691e-06 9.99999887e-01 -5.73152769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:237.37, Y:-28.30, Z:-5.73 [[ 9.94729816e-01 1.02530669e-01 2.32742856e-04 2.37365223e+02] [-1.02530666e-01 9.94729844e-01 -2.57224722e-05 -2.83048540e+01] [-2.34153608e-04 1.72362994e-06 9.99999973e-01 -5.73275271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.39, Y:-28.31, Z:-5.73 [[ 9.94968801e-01 1.00184164e-01 4.67902908e-04 2.37392195e+02] [-1.00184151e-01 9.94968911e-01 -5.08148123e-05 -2.83103973e+01] [-4.70639686e-04 3.68269741e-06 9.99999889e-01 -5.73289741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.42, Y:-28.31, Z:-5.73 [[ 9.95074599e-01 9.91289222e-02 -3.38071175e-06 2.37420510e+02] [-9.91289222e-02 9.95074599e-01 -7.67048429e-07 -2.83124922e+01] [ 3.28802336e-06 1.09839672e-06 1.00000000e+00 -5.73387039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.45, Y:-28.31, Z:-5.74 [[ 9.95170994e-01 9.81434966e-02 -1.59558718e-03 2.37449363e+02] [-9.81433547e-02 9.95172274e-01 1.67199417e-04 -2.83147779e+01] [ 1.60429365e-03 -9.79573227e-06 9.99998713e-01 -5.73698555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.48, Y:-28.32, Z:-5.74 [[ 9.95195898e-01 9.79006556e-02 -7.65295197e-04 2.37478061e+02] [-9.79006233e-02 9.95196193e-01 7.95669548e-05 -2.83198794e+01] [ 7.69408523e-04 -4.26183032e-06 9.99999704e-01 -5.73586783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.51, Y:-28.33, Z:-5.74 [[ 9.95189115e-01 9.79693105e-02 8.00011723e-04 2.37506346e+02] [-9.79692734e-02 9.95189436e-01 -8.54412010e-05 -2.83251584e+01] [-8.04533831e-04 6.65358601e-06 9.99999676e-01 -5.73654160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.53, Y:-28.33, Z:-5.74 [[ 9.95123747e-01 9.86322575e-02 6.37705164e-04 2.37533320e+02] [-9.86322338e-02 9.95123951e-01 -6.85740930e-05 -2.83306942e+01] [-6.41359300e-04 5.34142356e-06 9.99999794e-01 -5.73716983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:-28.33, Z:-5.74 [[ 9.94988625e-01 9.99880885e-02 -1.38159818e-04 2.37562395e+02] [-9.99880876e-02 9.94988634e-01 1.34253575e-05 -2.83339976e+01] [ 1.38809824e-04 4.56257927e-07 9.99999990e-01 -5.73886614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.59, Y:-28.34, Z:-5.74 [[ 9.94881107e-01 1.01052312e-01 1.11011294e-04 2.37589769e+02] [-1.01052312e-01 9.94881114e-01 -1.30734204e-05 -2.83361480e+01] [-1.11764140e-04 1.78855105e-06 9.99999994e-01 -5.74048364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:-28.34, Z:-5.74 [[ 9.94767520e-01 1.02164460e-01 -5.89691133e-05 2.37618197e+02] [-1.02164460e-01 9.94767522e-01 5.07840023e-06 -2.83378175e+01] [ 5.91793904e-05 9.72720016e-07 9.99999998e-01 -5.74152996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:-28.34, Z:-5.74 [[ 9.94616861e-01 1.03613099e-01 -1.27499331e-03 2.37646361e+02] [-1.03613014e-01 9.94617678e-01 1.32621967e-04 -2.83401471e+01] [ 1.28187226e-03 1.97856214e-07 9.99999178e-01 -5.74384898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.67, Y:-28.34, Z:-5.74 [[ 9.94596437e-01 1.03805936e-01 -1.50176161e-03 2.37674954e+02] [-1.03805817e-01 9.94597571e-01 1.56641466e-04 -2.83440707e+01] [ 1.50990877e-03 9.65480948e-08 9.99998860e-01 -5.74449821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.70, Y:-28.35, Z:-5.74 [[ 9.94618272e-01 1.03598589e-01 -1.35102306e-03 2.37702576e+02] [-1.03598494e-01 9.94619190e-01 1.40447100e-04 -2.83475310e+01] [ 1.35830359e-03 2.72703064e-07 9.99999078e-01 -5.74492662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.73, Y:-28.35, Z:-5.75 [[ 9.94645213e-01 1.03335189e-01 -1.65490055e-03 2.37730334e+02] [-1.03335045e-01 9.94646590e-01 1.72271578e-04 -2.83494563e+01] [ 1.66384291e-03 -3.39877052e-07 9.99998616e-01 -5.74601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:-28.35, Z:-5.75 [[ 9.94689715e-01 1.02881896e-01 -2.77239727e-03 2.37759557e+02] [-1.02881488e-01 9.94693579e-01 2.89705162e-04 -2.83499541e+01] [ 2.78749118e-03 -2.93838931e-06 9.99996115e-01 -5.74736879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.79, Y:-28.35, Z:-5.75 [[ 9.94725500e-01 1.02553517e-01 -1.98889231e-03 2.37787409e+02] [-1.02553308e-01 9.94727488e-01 2.06783764e-04 -2.83507193e+01] [ 1.99961226e-03 -1.72559734e-06 9.99998001e-01 -5.74827526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.82, Y:-28.35, Z:-5.75 [[ 9.94759211e-01 1.02239122e-01 -1.12886388e-03 2.37816631e+02] [-1.02239055e-01 9.94759851e-01 1.17145834e-04 -2.83522551e+01] [ 1.13492535e-03 -1.11792203e-06 9.99999356e-01 -5.74944455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:-28.36, Z:-5.75 [[ 9.94952012e-01 1.00344236e-01 -1.23601267e-03 2.37845597e+02] [-1.00344154e-01 9.94952780e-01 1.28306314e-04 -2.83556026e+01] [ 1.24264904e-03 -3.63197954e-06 9.99999228e-01 -5.74965165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:237.87, Y:-28.36, Z:-5.75 [[ 9.95265700e-01 9.71845620e-02 -1.16106199e-03 2.37873680e+02] [-9.71844877e-02 9.95266377e-01 1.20395146e-04 -2.83610886e+01] [ 1.16726651e-03 -6.98794452e-06 9.99999319e-01 -5.75202958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:-28.36, Z:-5.75 [[ 9.95463753e-01 9.51338120e-02 -1.21444655e-03 2.37901579e+02] [-9.51337298e-02 9.95464493e-01 1.25435281e-04 -2.83645834e+01] [ 1.22087155e-03 -9.33144556e-06 9.99999255e-01 -5.75085526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.93, Y:-28.37, Z:-5.75 [[ 9.95628818e-01 9.33880051e-02 -1.39166517e-03 2.37929595e+02] [-9.33878949e-02 9.95629791e-01 1.44103417e-04 -2.83673555e+01] [ 1.39904083e-03 -1.35088340e-05 9.99999021e-01 -5.75153545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25420382200002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.96, Y:-28.37, Z:-5.75 [[ 9.95800550e-01 9.15440414e-02 -9.76206686e-04 2.37958226e+02] [-9.15439865e-02 9.95801029e-01 1.00890851e-04 -2.83708820e+01] [ 9.81343578e-04 -1.11013135e-05 9.99999518e-01 -5.75446537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:-28.37, Z:-5.75 [[ 9.95816670e-01 9.13719317e-02 -5.73625300e-04 2.37986532e+02] [-9.13719131e-02 9.95816836e-01 5.87345461e-05 -2.83740181e+01] [ 5.76592419e-04 -6.07559916e-06 9.99999834e-01 -5.75267546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:-28.38, Z:-5.75 [[ 9.95739427e-01 9.22101842e-02 5.25092908e-04 2.38013808e+02] [-9.22101674e-02 9.95739565e-01 -5.62656605e-05 -2.83761608e+01] [-5.28044051e-04 7.60703159e-06 9.99999861e-01 -5.75275172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:-28.38, Z:-5.75 [[ 9.95682648e-01 9.28205279e-02 -6.43050908e-04 2.38042633e+02] [-9.28205052e-02 9.95682856e-01 6.51755477e-05 -2.83802485e+01] [ 6.46324393e-04 -5.20585182e-06 9.99999791e-01 -5.75380451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37420382200003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:238.07, Y:-28.38, Z:-5.76 [[ 9.95505692e-01 9.46740425e-02 -2.28957948e-03 2.38070520e+02] [-9.46737475e-02 9.95508325e-01 2.37132319e-04 -2.83835864e+01] [ 2.30174571e-03 -1.93035038e-05 9.99997351e-01 -5.75818248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:-28.39, Z:-5.76 [[ 9.95419814e-01 9.55714452e-02 -2.34359322e-03 2.38099543e+02] [-9.55711379e-02 9.95422573e-01 2.43017811e-04 -2.83863196e+01] [ 2.35609116e-03 -1.79248731e-05 9.99997224e-01 -5.75622815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.13, Y:-28.39, Z:-5.76 [[ 9.95292265e-01 9.68950722e-02 -2.15673151e-03 2.38127161e+02] [-9.68948161e-02 9.95294602e-01 2.23143028e-04 -2.83878020e+01] [ 2.16820469e-03 -1.31164269e-05 9.99997649e-01 -5.75848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:-28.39, Z:-5.76 [[ 9.95058371e-01 9.92484413e-02 -2.93017538e-03 2.38156294e+02] [-9.92479770e-02 9.95062685e-01 3.03797220e-04 -2.83890251e+01] [ 2.94585958e-03 -1.14819888e-05 9.99995661e-01 -5.75684198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.18, Y:-28.39, Z:-5.76 [[ 9.94895639e-01 1.00860110e-01 -3.14740454e-03 2.38183995e+02] [-1.00859584e-01 9.94900617e-01 3.25929083e-04 -2.83912204e+01] [ 3.16422796e-03 -6.81951248e-06 9.99994994e-01 -5.75791577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:-28.39, Z:-5.76 [[ 9.94892883e-01 1.00884760e-01 -3.22753618e-03 2.38212183e+02] [-1.00884206e-01 9.94898118e-01 3.34371941e-04 -2.83948322e+01] [ 3.24480270e-03 -7.05683973e-06 9.99994736e-01 -5.75876260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:-28.40, Z:-5.76 [[ 9.94918185e-01 1.00623682e-01 -3.56080948e-03 2.38241317e+02] [-1.00623006e-01 9.94924557e-01 3.68795146e-04 -2.83978527e+01] [ 3.57984632e-03 -8.62164220e-06 9.99993592e-01 -5.75957395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.27, Y:-28.40, Z:-5.76 [[ 9.95104877e-01 9.87920528e-02 -2.53259264e-03 2.38269042e+02] [-9.87917071e-02 9.95108100e-01 2.61516087e-04 -2.83994392e+01] [ 2.54603916e-03 -1.00367832e-05 9.99996759e-01 -5.75990351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:-28.40, Z:-5.76 [[ 9.95278108e-01 9.70617212e-02 -7.14855205e-04 2.38297371e+02] [-9.70616938e-02 9.95278364e-01 7.31081652e-05 -2.84015676e+01] [ 7.18575924e-04 -3.37789928e-06 9.99999742e-01 -5.75961457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.33, Y:-28.41, Z:-5.76 [[ 9.95631122e-01 9.33728113e-02 4.33314404e-04 2.38325525e+02] [-9.33728001e-02 9.95631216e-01 -4.60792750e-05 -2.84053772e+01] [-4.35723899e-04 5.41818100e-06 9.99999905e-01 -5.75940258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:-28.41, Z:-5.76 [[ 9.95841616e-01 9.10996045e-02 -5.81355030e-04 2.38352597e+02] [-9.10995857e-02 9.95841786e-01 5.88762174e-05 -2.84096480e+01] [ 5.84301231e-04 -5.67018510e-06 9.99999829e-01 -5.76028379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.38, Y:-28.42, Z:-5.76 [[ 9.96222477e-01 8.68338778e-02 -8.08895263e-04 2.38380742e+02] [-8.68338392e-02 9.96222805e-01 8.27419947e-05 -2.84158917e+01] [ 8.13024716e-04 -1.21899536e-05 9.99999669e-01 -5.76184358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:238.41, Y:-28.42, Z:-5.77 [[ 9.96369053e-01 8.51391426e-02 -1.90398728e-04 2.38409057e+02] [-8.51391406e-02 9.96369071e-01 1.86186448e-05 -2.84202049e+01] [ 1.91292579e-04 -2.34065740e-06 9.99999982e-01 -5.76576990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:238.44, Y:-28.43, Z:-5.77 [[ 9.96516516e-01 8.33954878e-02 -1.60344937e-04 2.38436751e+02] [-8.33954864e-02 9.96516529e-01 1.51755122e-05 -2.84250813e+01] [ 1.61051949e-04 -1.75060459e-06 9.99999987e-01 -5.76617219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79420382200001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:238.47, Y:-28.43, Z:-5.77 [[ 9.96695912e-01 8.12071763e-02 1.62898943e-03 2.38465322e+02] [-8.12070083e-02 9.96697243e-01 -1.69154727e-04 -2.84341960e+01] [-1.63734585e-03 3.63104670e-05 9.99998659e-01 -5.76613115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:-28.44, Z:-5.76 [[ 9.96737542e-01 8.07057007e-02 9.28116949e-04 2.38493642e+02] [-8.07056455e-02 9.96737974e-01 -9.68595567e-05 -2.84437780e+01] [-9.32906527e-04 2.16392790e-05 9.99999565e-01 -5.76325518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.52, Y:-28.45, Z:-5.76 [[ 9.96669741e-01 8.15384436e-02 -9.53318638e-04 2.38522870e+02] [-8.15383871e-02 9.96670197e-01 9.80464490e-05 -2.84495295e+01] [ 9.58138829e-04 -1.99878649e-05 9.99999541e-01 -5.76401120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.55, Y:-28.45, Z:-5.77 [[ 9.96548208e-01 8.29924624e-02 -1.97999126e-03 2.38551868e+02] [-8.29922204e-02 9.96550174e-01 2.04183337e-04 -2.84542917e+01] [ 1.99010632e-03 -3.91546676e-05 9.99998019e-01 -5.76724510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91420382200002 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:238.58, Y:-28.46, Z:-5.77 [[ 9.96115399e-01 8.80448760e-02 -1.48707421e-03 2.38579451e+02] [-8.80447468e-02 9.96116509e-01 1.52275520e-04 -2.84583875e+01] [ 1.49470625e-03 -2.07549183e-05 9.99998883e-01 -5.76856811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.61, Y:-28.46, Z:-5.77 [[ 9.95832981e-01 9.11736005e-02 -2.01188647e-03 2.38608257e+02] [-9.11733690e-02 9.95835013e-01 2.06693391e-04 -2.84620367e+01] [ 2.02235197e-03 -2.24016283e-05 9.99997955e-01 -5.76719204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.64, Y:-28.47, Z:-5.77 [[ 9.95241494e-01 9.74191761e-02 -1.96803380e-03 2.38635797e+02] [-9.74189676e-02 9.95243440e-01 2.01759727e-04 -2.84696786e+01] [ 1.97832799e-03 -9.07583142e-06 9.99998043e-01 -5.76624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:-28.47, Z:-5.77 [[ 9.94940058e-01 1.00449184e-01 -2.05955933e-03 2.38664593e+02] [-1.00448961e-01 9.94942190e-01 2.11401002e-04 -2.84743513e+01] [ 2.07037753e-03 -3.45072950e-06 9.99997857e-01 -5.76694520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:238.69, Y:-28.48, Z:-5.77 [[ 9.94686559e-01 1.02923028e-01 -2.34501774e-03 2.38693574e+02] [-1.02922747e-01 9.94689323e-01 2.40722971e-04 -2.84773828e+01] [ 2.35734005e-03 1.91176366e-06 9.99997221e-01 -5.76751892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.72, Y:-28.48, Z:-5.77 [[ 9.94329738e-01 1.06309014e-01 -2.60098572e-03 2.38721468e+02] [-1.06308681e-01 9.94333140e-01 2.66684707e-04 -2.84791554e+01] [ 2.61459728e-03 1.13348251e-05 9.99996582e-01 -5.76882246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09420382200003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:238.75, Y:-28.48, Z:-5.77 [[ 9.94124302e-01 1.08222966e-01 -2.15914809e-03 2.38750008e+02] [-1.08222740e-01 9.94126647e-01 2.21318481e-04 -2.84840319e+01] [ 2.17041839e-03 1.36508429e-05 9.99997645e-01 -5.77304254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.78, Y:-28.49, Z:-5.77 [[ 9.94126538e-01 1.08202495e-01 -2.15578148e-03 2.38778015e+02] [-1.08202271e-01 9.94128875e-01 2.20563865e-04 -2.84874733e+01] [ 2.16699018e-03 1.39920606e-05 9.99997652e-01 -5.76996220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.81, Y:-28.49, Z:-5.77 [[ 9.94103661e-01 1.08420183e-01 -1.72508407e-03 2.38806847e+02] [-1.08420040e-01 9.94105157e-01 1.76438287e-04 -2.84907720e+01] [ 1.73404444e-03 1.16357357e-05 9.99998496e-01 -5.77041946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.83, Y:-28.49, Z:-5.77 [[ 9.94000316e-01 1.09335695e-01 -3.01290785e-03 2.38834911e+02] [-1.09335261e-01 9.94004882e-01 3.08795140e-04 -2.84948810e+01] [ 3.02860744e-03 2.24746000e-05 9.99995414e-01 -5.77484231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.86, Y:-28.50, Z:-5.77 [[ 9.94010526e-01 1.09216844e-01 -3.84131093e-03 2.38862825e+02] [-1.09216138e-01 9.94017948e-01 3.93496466e-04 -2.84979211e+01] [ 3.86130845e-03 2.83935173e-05 9.99992545e-01 -5.77267148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244203822 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:238.89, Y:-28.50, Z:-5.77 [[ 9.94040098e-01 1.08972949e-01 -3.02996880e-03 2.38891408e+02] [-1.08972509e-01 9.94044715e-01 3.10219480e-04 -2.85021029e+01] [ 3.04573001e-03 2.18127018e-05 9.99995362e-01 -5.77351206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.92, Y:-28.51, Z:-5.77 [[ 9.94077181e-01 1.08647747e-01 -2.49494753e-03 2.38920054e+02] [-1.08647449e-01 9.94080312e-01 2.55110470e-04 -2.85069607e+01] [ 2.50789539e-03 1.74701879e-05 9.99996855e-01 -5.77393850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.95, Y:-28.51, Z:-5.78 [[ 9.94159907e-01 1.07889622e-01 -2.43098137e-03 2.38948304e+02] [-1.07889337e-01 9.94162879e-01 2.48398656e-04 -2.85106727e+01] [ 2.44359108e-03 1.53289834e-05 9.99997014e-01 -5.77699482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.98, Y:-28.51, Z:-5.77 [[ 9.94230913e-01 1.07220524e-01 -2.94120008e-03 2.38976436e+02] [-1.07220106e-01 9.94235263e-01 3.00106573e-04 -2.85131972e+01] [ 2.95642242e-03 1.69805506e-05 9.99995630e-01 -5.77479001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:239.00, Y:-28.52, Z:-5.78 [[ 9.94252286e-01 1.07033175e-01 -2.50841878e-03 2.39004518e+02] [-1.07032870e-01 9.94255450e-01 2.56048759e-04 -2.85162750e+01] [ 2.52141475e-03 1.39061962e-05 9.99996821e-01 -5.77927045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:-28.52, Z:-5.78 [[ 9.94396740e-01 1.05665434e-01 -3.15282047e-03 2.39031838e+02] [-1.05664946e-01 9.94401738e-01 3.21442677e-04 -2.85203662e+01] [ 3.16913553e-03 1.35010546e-05 9.99994978e-01 -5.77643882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.06, Y:-28.52, Z:-5.78 [[ 9.94597269e-01 1.03782874e-01 -2.32124748e-03 2.39059079e+02] [-1.03782606e-01 9.94599977e-01 2.36128384e-04 -2.85244767e+01] [ 2.33321877e-03 6.05246516e-06 9.99997278e-01 -5.77683039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:239.09, Y:-28.53, Z:-5.78 [[ 9.94740220e-01 1.02410677e-01 -1.98704900e-03 2.39087977e+02] [-1.02410478e-01 9.94742204e-01 2.02277029e-04 -2.85279532e+01] [ 1.99731683e-03 2.28154104e-06 9.99998005e-01 -5.77726838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:239.12, Y:-28.53, Z:-5.78 [[ 9.94858590e-01 1.01255754e-01 -1.91287740e-03 2.39117560e+02] [-1.01255566e-01 9.94860429e-01 1.95161861e-04 -2.85316340e+01] [ 1.92280729e-03 -4.68970087e-07 9.99998151e-01 -5.78008848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:239.15, Y:-28.53, Z:-5.78 [[ 9.94862337e-01 1.01218926e-01 -1.91291349e-03 2.39146739e+02] [-1.01218739e-01 9.94864176e-01 1.94808984e-04 -2.85345352e+01] [ 1.92280746e-03 -1.85430910e-07 9.99998151e-01 -5.78076055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382200001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:239.18, Y:-28.54, Z:-5.78 [[ 9.95198326e-01 9.78551601e-02 -2.15874279e-03 2.39176016e+02] [-9.78549127e-02 9.95200667e-01 2.20167338e-04 -2.85382339e+01] [ 2.16992677e-03 -7.86657912e-06 9.99997646e-01 -5.78082140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:-28.54, Z:-5.78 [[ 9.95333640e-01 9.64649856e-02 -2.33494799e-03 2.39204761e+02] [-9.64646932e-02 9.95336379e-01 2.37811648e-04 -2.85407328e+01] [ 2.34699917e-03 -1.14618915e-05 9.99997246e-01 -5.77824383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:239.23, Y:-28.54, Z:-5.78 [[ 9.95542617e-01 9.42638428e-02 -3.03736779e-03 2.39234491e+02] [-9.42633361e-02 9.95547250e-01 3.09843928e-04 -2.85444783e+01] [ 3.05305023e-03 -2.21504140e-05 9.99995339e-01 -5.77980000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.26, Y:-28.55, Z:-5.78 [[ 9.95616975e-01 9.34517295e-02 -3.68962424e-03 2.39262428e+02] [-9.34509765e-02 9.95623811e-01 3.76348182e-04 -2.85484614e+01] [ 3.70864813e-03 -2.98996508e-05 9.99993122e-01 -5.78080136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.29, Y:-28.55, Z:-5.78 [[ 9.95652459e-01 9.31080735e-02 -2.65861899e-03 2.39291663e+02] [-9.31076819e-02 9.95656008e-01 2.70969374e-04 -2.85521883e+01] [ 2.67229941e-03 -2.22534722e-05 9.99996429e-01 -5.78119088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69420382200002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:239.32, Y:-28.56, Z:-5.78 [[ 9.95632960e-01 9.33495035e-02 -9.37280570e-04 2.39320462e+02] [-9.33494556e-02 9.95633401e-01 9.48209026e-05 -2.85550745e+01] [ 9.42039326e-04 -6.91218498e-06 9.99999556e-01 -5.78149947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:-28.56, Z:-5.78 [[ 9.95627234e-01 9.33973326e-02 -1.82991122e-03 2.39350154e+02] [-9.33971480e-02 9.95628916e-01 1.86233715e-04 -2.85600985e+01] [ 1.83930626e-03 -1.45108692e-05 9.99998308e-01 -5.78109349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75420382200002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:239.38, Y:-28.56, Z:-5.79 [[ 9.95592172e-01 9.37463885e-02 -2.80039504e-03 2.39378710e+02] [-9.37459573e-02 9.95596110e-01 2.85154478e-04 -2.85626351e+01] [ 2.81479461e-03 -2.13718527e-05 9.99996038e-01 -5.78506022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.41, Y:-28.56, Z:-5.78 [[ 9.95592820e-01 9.36988872e-02 -3.93124738e-03 2.39407294e+02] [-9.36980386e-02 9.95600581e-01 3.99895464e-04 -2.85644703e+01] [ 3.95142194e-03 -2.97828843e-05 9.99992193e-01 -5.78275191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.44, Y:-28.57, Z:-5.79 [[ 9.95550946e-01 9.41252815e-02 -4.32954004e-03 2.39435273e+02] [-9.41242568e-02 9.95560360e-01 4.40293061e-04 -2.85688966e+01] [ 4.35176115e-03 -3.08194346e-05 9.99990531e-01 -5.78707788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382200003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:239.46, Y:-28.58, Z:-5.78 [[ 9.95648902e-01 9.31037671e-02 -3.86679239e-03 2.39463158e+02] [-9.31029419e-02 9.95656410e-01 3.93256475e-04 -2.85755415e+01] [ 3.88661029e-03 -3.15356304e-05 9.99992447e-01 -5.78497076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:239.49, Y:-28.58, Z:-5.79 [[ 9.95632385e-01 9.33046500e-02 -3.22443555e-03 2.39492845e+02] [-9.33040771e-02 9.95637606e-01 3.27986458e-04 -2.85810992e+01] [ 3.24097195e-03 -2.57009560e-05 9.99994748e-01 -5.78804854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.52, Y:-28.59, Z:-5.79 [[ 9.95658380e-01 9.29750229e-02 -4.47613099e-03 2.39521511e+02] [-9.29739165e-02 9.95668441e-01 4.55086259e-04 -2.85860631e+01] [ 4.49905402e-03 -3.69470180e-05 9.99989879e-01 -5.78510229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.55, Y:-28.59, Z:-5.79 [[ 9.95535381e-01 9.41983900e-02 -5.99736394e-03 2.39549998e+02] [-9.41964275e-02 9.95553445e-01 6.09479674e-04 -2.85898828e+01] [ 6.02810834e-03 -4.18283220e-05 9.99981830e-01 -5.78938008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964203822 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:239.58, Y:-28.59, Z:-5.79 [[ 9.95365320e-01 9.59258354e-02 -6.79066744e-03 2.39578442e+02] [-9.59233615e-02 9.95388483e-01 6.89820985e-04 -2.85932398e+01] [ 6.82552382e-03 -3.52402379e-05 9.99976705e-01 -5.79012669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:239.61, Y:-28.60, Z:-5.79 [[ 9.95274064e-01 9.69002392e-02 -6.31517905e-03 2.39606283e+02] [-9.68981242e-02 9.95294099e-01 6.40739418e-04 -2.85973721e+01] [ 6.34754824e-03 -2.57823200e-05 9.99979854e-01 -5.79115861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:239.63, Y:-28.60, Z:-5.79 [[ 9.95022041e-01 9.95381055e-02 -4.82726800e-03 2.39633252e+02] [-9.95369036e-02 9.95033751e-01 4.89190799e-04 -2.86035673e+01] [ 4.85198771e-03 -6.26431768e-06 9.99988229e-01 -5.79098853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.66, Y:-28.61, Z:-5.79 [[ 9.94843858e-01 1.01299258e-01 -4.91519000e-03 2.39663228e+02] [-1.01298030e-01 9.94856000e-01 4.98828213e-04 -2.86078095e+01] [ 4.94043719e-03 1.64287876e-06 9.99987796e-01 -5.78722755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:-28.61, Z:-5.79 [[ 9.94597150e-01 1.03697771e-01 -4.82513172e-03 2.39691796e+02] [-1.03696618e-01 9.94608854e-01 4.89209785e-04 -2.86112403e+01] [ 4.84984869e-03 1.37831825e-05 9.99988239e-01 -5.78809679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.72, Y:-28.61, Z:-5.79 [[ 9.94117447e-01 1.08191664e-01 -5.00644684e-03 2.39721075e+02] [-1.08190483e-01 9.94130053e-01 5.07102510e-04 -2.86127710e+01] [ 5.03192353e-03 3.75304473e-05 9.99987339e-01 -5.78784451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:239.75, Y:-28.62, Z:-5.79 [[ 9.93975100e-01 1.09536455e-01 -3.90704195e-03 2.39749786e+02] [-1.09535746e-01 9.93982778e-01 3.95641192e-04 -2.86154109e+01] [ 3.92686954e-03 3.47032613e-05 9.99992289e-01 -5.78835672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.78, Y:-28.62, Z:-5.79 [[ 9.93859236e-01 1.10613817e-01 -2.89887382e-03 2.39779628e+02] [-1.10613431e-01 9.93863463e-01 2.93544566e-04 -2.86188205e+01] [ 2.91355486e-03 2.89124032e-05 9.99995755e-01 -5.78745095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.81, Y:-28.62, Z:-5.79 [[ 9.93882292e-01 1.10405354e-01 -2.94051258e-03 2.39807693e+02] [-1.10404958e-01 9.93886642e-01 2.97382612e-04 -2.86218394e+01] [ 2.95536880e-03 2.90838542e-05 9.99995632e-01 -5.78801929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.84, Y:-28.63, Z:-5.79 [[ 9.94063255e-01 1.08718431e-01 -4.30670328e-03 2.39835742e+02] [-1.08717563e-01 9.94072584e-01 4.35797405e-04 -2.86256861e+01] [ 4.32855487e-03 3.50041009e-05 9.99990631e-01 -5.78929014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.87, Y:-28.63, Z:-5.79 [[ 9.94190215e-01 1.07520146e-01 -5.02343406e-03 2.39865417e+02] [-1.07518949e-01 9.94202905e-01 5.08581696e-04 -2.86292936e+01] [ 5.04899552e-03 3.44874057e-05 9.99987253e-01 -5.79087491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29420382200001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.89, Y:-28.63, Z:-5.79 [[ 9.94313866e-01 1.06371140e-01 -5.01171647e-03 2.39893524e+02] [-1.06369936e-01 9.94326496e-01 5.06918572e-04 -2.86325017e+01] [ 5.03720398e-03 2.90597940e-05 9.99987313e-01 -5.79194136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382200002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:239.92, Y:-28.64, Z:-5.79 [[ 9.94552384e-01 1.04160555e-01 -4.01664221e-03 2.39921804e+02] [-1.04159763e-01 9.94560495e-01 4.06257721e-04 -2.86353407e+01] [ 4.03710969e-03 1.43279172e-05 9.99991851e-01 -5.79302898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.95, Y:-28.64, Z:-5.79 [[ 9.94657409e-01 1.03151911e-01 -4.04011808e-03 2.39951471e+02] [-1.03151103e-01 9.94665614e-01 4.08575272e-04 -2.86390730e+01] [ 4.06071185e-03 1.03502148e-05 9.99991755e-01 -5.79296199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:239.98, Y:-28.64, Z:-5.79 [[ 9.94849880e-01 1.01255029e-01 -4.59743517e-03 2.39980029e+02] [-1.01253963e-01 9.94860502e-01 4.64568650e-04 -2.86443212e+01] [ 4.62084657e-03 3.33246529e-06 9.99989324e-01 -5.79276348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41420382200002 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:240.01, Y:-28.65, Z:-5.80 [[ 9.94924094e-01 1.00506539e-01 -4.94795883e-03 2.40009780e+02] [-1.00505294e-01 9.94936398e-01 5.00191743e-04 -2.86476395e+01] [ 4.97317687e-03 -3.56758785e-07 9.99987634e-01 -5.79830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:240.04, Y:-28.65, Z:-5.80 [[ 9.94951164e-01 1.00157430e-01 -6.37740043e-03 2.40038204e+02] [-1.00155356e-01 9.94971602e-01 6.44628341e-04 -2.86520430e+01] [ 6.40989664e-03 -2.64290912e-06 9.99979456e-01 -5.79539318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47420382200002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:240.07, Y:-28.66, Z:-5.80 [[ 9.94881043e-01 1.00859808e-01 -6.24570483e-03 2.40067272e+02] [-1.00857833e-01 9.94900648e-01 6.31188493e-04 -2.86554484e+01] [ 6.27751733e-03 1.97078538e-06 9.99980296e-01 -5.79597357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382200002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:240.10, Y:-28.66, Z:-5.80 [[ 9.94643227e-01 1.03243159e-01 -5.06962053e-03 2.40096157e+02] [-1.03241891e-01 9.94656147e-01 5.11739912e-04 -2.86571844e+01] [ 5.09536287e-03 1.43985741e-05 9.99987018e-01 -5.79619055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53420382200002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:240.13, Y:-28.66, Z:-5.80 [[ 9.94484065e-01 1.04790368e-01 -4.51921950e-03 2.40126116e+02] [-1.04789376e-01 9.94494333e-01 4.56293276e-04 -2.86593871e+01] [ 4.54215332e-03 1.97898003e-05 9.99989684e-01 -5.79661864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382200002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:240.16, Y:-28.66, Z:-5.80 [[ 9.94160544e-01 1.07845917e-01 -3.75123677e-03 2.40155314e+02] [-1.07845259e-01 9.94167620e-01 3.77900905e-04 -2.86616027e+01] [ 3.77011320e-03 2.88589297e-05 9.99992893e-01 -5.79611230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59420382200003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.18, Y:-28.66, Z:-5.80 [[ 9.93936251e-01 1.09904509e-01 -3.42450950e-03 2.40183515e+02] [-1.09903972e-01 9.93942150e-01 3.45053365e-04 -2.86631076e+01] [ 3.44168725e-03 3.34061481e-05 9.99994077e-01 -5.79649739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382200003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:240.21, Y:-28.66, Z:-5.80 [[ 9.93705957e-01 1.11955105e-01 -3.81111870e-03 2.40212065e+02] [-1.11954456e-01 9.93713265e-01 3.83993263e-04 -2.86634707e+01] [ 3.83014921e-03 4.50953272e-05 9.99992664e-01 -5.79703021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.24, Y:-28.66, Z:-5.80 [[ 9.93363599e-01 1.14938259e-01 -4.23755908e-03 2.40241400e+02] [-1.14937485e-01 9.93372635e-01 4.26500187e-04 -2.86617543e+01] [ 4.25849642e-03 6.33846229e-05 9.99990931e-01 -5.79783952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.27, Y:-28.66, Z:-5.80 [[ 9.93242792e-01 1.16027937e-01 -2.50463096e-03 2.40270094e+02] [-1.16027672e-01 9.93245950e-01 2.51185057e-04 -2.86584717e+01] [ 2.51685904e-03 4.11187524e-05 9.99996832e-01 -5.79770704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:240.30, Y:-28.66, Z:-5.80 [[ 9.93271580e-01 1.15792222e-01 -1.93101894e-03 2.40299145e+02] [-1.15792065e-01 9.93273457e-01 1.93534390e-04 -2.86576269e+01] [ 1.94043963e-03 3.13644603e-05 9.99998117e-01 -5.79847673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.33, Y:-28.66, Z:-5.80 [[ 9.93392282e-01 1.14756354e-01 -1.65914228e-03 2.40327616e+02] [-1.14756236e-01 9.93393668e-01 1.66042506e-04 -2.86579911e+01] [ 1.66723587e-03 2.54515797e-05 9.99998610e-01 -5.79921936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:240.36, Y:-28.66, Z:-5.80 [[ 9.93869397e-01 1.10548608e-01 -1.62070575e-03 2.40356013e+02] [-1.10548491e-01 9.93870718e-01 1.62392961e-04 -2.86593734e+01] [ 1.62872430e-03 1.77691799e-05 9.99998673e-01 -5.79991031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:240.38, Y:-28.66, Z:-5.80 [[ 9.94171183e-01 1.07794873e-01 -1.98091062e-03 2.40384996e+02] [-1.07794691e-01 9.94173157e-01 1.98611573e-04 -2.86614137e+01] [ 1.99077747e-03 1.60777448e-05 9.99998018e-01 -5.80086992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:240.41, Y:-28.66, Z:-5.81 [[ 9.94814794e-01 1.01701261e-01 -6.16413418e-04 2.40413792e+02] [-1.01701243e-01 9.94814985e-01 6.12319914e-05 -2.86621881e+01] [ 6.19444675e-04 1.77551980e-06 9.99999808e-01 -5.80553962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.44, Y:-28.67, Z:-5.80 [[ 9.95073181e-01 9.91297086e-02 -1.63242698e-03 2.40443630e+02] [-9.91295734e-02 9.95074520e-01 1.63727980e-04 -2.86652200e+01] [ 1.64061680e-03 -1.09953144e-06 9.99998654e-01 -5.80121747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.47, Y:-28.67, Z:-5.80 [[ 9.95599765e-01 9.36657594e-02 -2.79894142e-03 2.40472863e+02] [-9.36653403e-02 9.95603699e-01 2.80749767e-04 -2.86659919e+01] [ 2.81293307e-03 -1.73506016e-05 9.99996044e-01 -5.80142284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924203822 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:240.50, Y:-28.67, Z:-5.81 [[ 9.95859208e-01 9.08789161e-02 -2.33672779e-03 2.40502064e+02] [-9.08786162e-02 9.95861949e-01 2.34427247e-04 -2.86677227e+01] [ 2.34836279e-03 -2.10979447e-05 9.99997242e-01 -5.80528406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.53, Y:-28.67, Z:-5.80 [[ 9.96252453e-01 8.64591917e-02 -2.42034948e-03 2.40531072e+02] [-8.64588570e-02 9.96255393e-01 2.42771466e-04 -2.86729735e+01] [ 2.43227605e-03 -3.26010190e-05 9.99997041e-01 -5.80245977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984203822 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:240.56, Y:-28.68, Z:-5.81 [[ 9.96637002e-01 8.19246730e-02 -1.74190148e-03 2.40560017e+02] [-8.19244931e-02 9.96638524e-01 1.74508794e-04 -2.86787564e+01] [ 1.75034270e-03 -3.12175257e-05 9.99998468e-01 -5.80757361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014203822 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:240.59, Y:-28.68, Z:-5.81 [[ 9.96765939e-01 8.03425670e-02 -1.65346206e-03 2.40588289e+02] [-8.03424033e-02 9.96767310e-01 1.65275621e-04 -2.86830393e+01] [ 1.66139560e-03 -3.18979942e-05 9.99998619e-01 -5.80788540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382200001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:240.62, Y:-28.69, Z:-5.80 [[ 9.96826781e-01 7.95557898e-02 -2.69168786e-03 2.40617420e+02] [-7.95553502e-02 9.96830414e-01 2.70135371e-04 -2.86878628e+01] [ 2.70464716e-03 -5.51400012e-05 9.99996341e-01 -5.80430152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.65, Y:-28.69, Z:-5.80 [[ 9.96918876e-01 7.84089744e-02 -2.18783723e-03 2.40646244e+02] [-7.84086815e-02 9.96921276e-01 2.19494125e-04 -2.86946061e+01] [ 2.19831180e-03 -4.72724037e-05 9.99997583e-01 -5.80406612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382200002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:240.68, Y:-28.70, Z:-5.80 [[ 9.96917272e-01 7.84383574e-02 -1.83750367e-03 2.40675146e+02] [-7.84381515e-02 9.96918965e-01 1.83965151e-04 -2.87004319e+01] [ 1.84627218e-03 -3.92676454e-05 9.99998295e-01 -5.80406311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.70, Y:-28.71, Z:-5.80 [[ 9.96796854e-01 7.99406348e-02 -2.35097533e-03 2.40704368e+02] [-7.99402994e-02 9.96799625e-01 2.36411325e-04 -2.87088931e+01] [ 2.36235020e-03 -4.77163930e-05 9.99997209e-01 -5.80396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382200002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:240.73, Y:-28.72, Z:-5.80 [[ 9.96522156e-01 8.32573970e-02 -3.43483954e-03 2.40732982e+02] [-8.32567034e-02 9.96528074e-01 3.44672347e-04 -2.87155478e+01] [ 3.45161055e-03 -5.75002138e-05 9.99994042e-01 -5.80484915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19420382200002 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:240.76, Y:-28.72, Z:-5.81 [[ 9.96381092e-01 8.49314146e-02 -3.37252568e-03 2.40762416e+02] [-8.49307568e-02 9.96386799e-01 3.38046032e-04 -2.87208861e+01] [ 3.38905079e-03 -5.03915165e-05 9.99994256e-01 -5.80560788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.79, Y:-28.73, Z:-5.81 [[ 9.96234320e-01 8.66618203e-02 -2.62828779e-03 2.40791001e+02] [-8.66614248e-02 9.96237787e-01 2.64228315e-04 -2.87268420e+01] [ 2.64129811e-03 -3.54621518e-05 9.99996511e-01 -5.80615739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25420382200002 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:240.82, Y:-28.74, Z:-5.81 [[ 9.95990238e-01 8.94615761e-02 2.69638493e-04 2.40820560e+02] [-8.94615721e-02 9.95990274e-01 -2.70759930e-05 -2.87364486e+01] [-2.70979578e-04 2.84514122e-06 9.99999963e-01 -5.80977350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.85, Y:-28.74, Z:-5.81 [[ 9.95833811e-01 9.11864212e-02 -2.40734332e-04 2.40850448e+02] [-9.11864177e-02 9.95833840e-01 2.54842663e-05 -2.87438671e+01] [ 2.42055213e-04 -3.42639271e-06 9.99999971e-01 -5.80533649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31420382200002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:240.88, Y:-28.75, Z:-5.81 [[ 9.95569004e-01 9.40275263e-02 -1.08701950e-03 2.40880880e+02] [-9.40274625e-02 9.95569598e-01 1.09804497e-04 -2.87521858e+01] [ 1.09252821e-03 -7.10826870e-06 9.99999403e-01 -5.80749772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382200003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:240.91, Y:-28.76, Z:-5.81 [[ 9.95366891e-01 9.61251200e-02 -2.17087549e-03 2.40910905e+02] [-9.61248722e-02 9.95369259e-01 2.18473265e-04 -2.87574647e+01] [ 2.18182349e-03 -8.78592601e-06 9.99997620e-01 -5.80655296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:240.94, Y:-28.77, Z:-5.81 [[ 9.94930626e-01 1.00539499e-01 -2.20402412e-03 2.40941934e+02] [-1.00539253e-01 9.94933068e-01 2.22156031e-04 -2.87663516e+01] [ 2.21519193e-03 5.61099630e-07 9.99997546e-01 -5.80818367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:240.97, Y:-28.77, Z:-5.81 [[ 9.94926870e-01 1.00576666e-01 -2.20398740e-03 2.40973594e+02] [-1.00576420e-01 9.94929311e-01 2.22521043e-04 -2.87695851e+01] [ 2.21519209e-03 2.76997310e-07 9.99997546e-01 -5.80891312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434203822 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:241.00, Y:-28.77, Z:-5.81 [[ 9.94728947e-01 1.02531391e-01 -1.27888686e-03 2.41004227e+02] [-1.02531310e-01 9.94729769e-01 1.29230058e-04 -2.87746341e+01] [ 1.28539697e-03 2.57706517e-06 9.99999174e-01 -5.81418679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464203822 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:241.03, Y:-28.78, Z:-5.81 [[ 9.94204922e-01 1.07496577e-01 -1.02906448e-03 2.41034147e+02] [-1.07496526e-01 9.94205455e-01 1.04914984e-04 -2.87801900e+01] [ 1.03437952e-03 6.31386368e-06 9.99999465e-01 -5.81411656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:241.07, Y:-28.78, Z:-5.81 [[ 9.93920236e-01 1.10098318e-01 -9.61931421e-04 2.41065946e+02] [-1.10098272e-01 9.93920701e-01 1.00932004e-04 -2.87845924e+01] [ 9.67195996e-04 5.58862594e-06 9.99999532e-01 -5.81149858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524203822 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:241.10, Y:-28.79, Z:-5.81 [[ 9.93579598e-01 1.13134869e-01 -2.88653310e-04 2.41097164e+02] [-1.13134864e-01 9.93579640e-01 3.27903461e-05 -2.87896869e+01] [ 2.90509783e-04 7.69341760e-08 9.99999958e-01 -5.81238093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554203822 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:241.13, Y:-28.79, Z:-5.82 [[ 9.93515105e-01 1.13696735e-01 -8.88243666e-04 2.41128836e+02] [-1.13696697e-01 9.93515502e-01 9.36407749e-05 -2.87937943e+01] [ 8.93130502e-04 7.95684638e-06 9.99999601e-01 -5.81651200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:241.16, Y:-28.80, Z:-5.81 [[ 9.93418123e-01 1.14492918e-01 -3.43567890e-03 2.41160354e+02] [-1.14492385e-01 9.93424063e-01 3.52048600e-04 -2.87992958e+01] [ 3.45339316e-03 4.36276105e-05 9.99994036e-01 -5.81464964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.19, Y:-28.81, Z:-5.82 [[ 9.93470198e-01 1.13971795e-01 -5.23406381e-03 2.41191202e+02] [-1.13970579e-01 9.93483983e-01 5.31047772e-04 -2.88064610e+01] [ 5.26048303e-03 6.89491473e-05 9.99986161e-01 -5.81605762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.22, Y:-28.81, Z:-5.82 [[ 9.93707813e-01 1.11951258e-01 -3.42027929e-03 2.41221548e+02] [-1.11950722e-01 9.93713698e-01 3.48233079e-04 -2.88117078e+01] [ 3.43776351e-03 3.68608054e-05 9.99994090e-01 -5.81685740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674203822 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:241.25, Y:-28.82, Z:-5.82 [[ 9.93868419e-01 1.10536192e-01 -2.70480954e-03 2.41252881e+02] [-1.10535853e-01 9.93872099e-01 2.74913481e-04 -2.88156250e+01] [ 2.71862262e-03 2.57506027e-05 9.99996304e-01 -5.81772665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704203822 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:241.28, Y:-28.82, Z:-5.82 [[ 9.94037927e-01 1.09001491e-01 -2.69733527e-03 2.41283685e+02] [-1.09001139e-01 9.94041586e-01 2.77557935e-04 -2.88191276e+01] [ 2.71151766e-03 1.81095013e-05 9.99996324e-01 -5.81833160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:241.32, Y:-28.82, Z:-5.82 [[ 9.94440647e-01 1.05264868e-01 -2.66611612e-03 2.41316576e+02] [-1.05264507e-01 9.94444220e-01 2.75785198e-04 -2.88242634e+01] [ 2.68033426e-03 6.39538821e-06 9.99996408e-01 -5.81925336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764203822 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:241.35, Y:-28.83, Z:-5.82 [[ 9.94699034e-01 1.02825979e-01 -8.06754956e-04 2.41348044e+02] [-1.02825943e-01 9.94699361e-01 8.63902177e-05 -2.88319009e+01] [ 8.11361798e-04 -2.97692731e-06 9.99999671e-01 -5.81912451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79420382200001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:241.38, Y:-28.84, Z:-5.82 [[ 9.94743546e-01 1.02397343e-01 -2.48235163e-04 2.41380830e+02] [-1.02397338e-01 9.94743577e-01 2.97858825e-05 -2.88373038e+01] [ 2.49980329e-04 -4.21069436e-06 9.99999969e-01 -5.81891700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382200002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.41, Y:-28.84, Z:-5.82 [[ 9.94713712e-01 1.02683586e-01 -8.44016086e-04 2.41413222e+02] [-1.02683546e-01 9.94714070e-01 9.08556978e-05 -2.88424559e+01] [ 8.48884064e-04 -3.70884353e-06 9.99999640e-01 -5.81914419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85420382200002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:241.45, Y:-28.85, Z:-5.82 [[ 9.94506433e-01 1.04658507e-01 -1.88481113e-03 2.41445966e+02] [-1.04658320e-01 9.94508219e-01 1.97777914e-04 -2.88464611e+01] [ 1.89515930e-03 5.69758744e-07 9.99998204e-01 -5.81943281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382200002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:241.48, Y:-28.85, Z:-5.82 [[ 9.94348822e-01 1.06160135e-01 -6.68376616e-04 2.41477786e+02] [-1.06160110e-01 9.94349046e-01 7.28450799e-05 -2.88473149e+01] [ 6.72332894e-04 -1.47848414e-06 9.99999774e-01 -5.82327422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.51, Y:-28.85, Z:-5.82 [[ 9.93867901e-01 1.10573405e-01 3.42246789e-04 2.41509562e+02] [-1.10573401e-01 9.93867960e-01 -3.16823015e-05 -2.88463557e+01] [-3.43651338e-04 -6.35536885e-06 9.99999941e-01 -5.82059012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:241.54, Y:-28.85, Z:-5.82 [[ 9.93638094e-01 1.12620049e-01 -2.49227975e-04 2.41542380e+02] [-1.12620045e-01 9.93638126e-01 3.00518065e-05 -2.88479042e+01] [ 2.51026853e-04 -1.79255411e-06 9.99999968e-01 -5.82145437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97420382200002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:241.58, Y:-28.85, Z:-5.82 [[ 9.93403774e-01 1.14640487e-01 -2.54966484e-03 2.41575227e+02] [-1.14640178e-01 9.93407045e-01 2.67737594e-04 -2.88475680e+01] [ 2.56354859e-03 2.63224944e-05 9.99996714e-01 -5.82262190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382200002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.61, Y:-28.85, Z:-5.82 [[ 9.93403495e-01 1.14642040e-01 -2.58839041e-03 2.41606809e+02] [-1.14641722e-01 9.93406866e-01 2.71289638e-04 -2.88490373e+01] [ 2.60242600e-03 2.72374606e-05 9.99996613e-01 -5.82365346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:241.64, Y:-28.85, Z:-5.82 [[ 9.93640733e-01 1.12565740e-01 -2.65489343e-03 2.41638560e+02] [-1.12565406e-01 9.93644279e-01 2.75212333e-04 -2.88492862e+01] [ 2.66899915e-03 2.53869725e-05 9.99996438e-01 -5.82438598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382200002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:241.67, Y:-28.85, Z:-5.82 [[ 9.93823147e-01 1.10941903e-01 -2.72883968e-03 2.41668794e+02] [-1.10941545e-01 9.93826893e-01 2.82622844e-04 -2.88502940e+01] [ 2.74334898e-03 2.18645668e-05 9.99996237e-01 -5.82441338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09420382200003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:241.70, Y:-28.85, Z:-5.83 [[ 9.94162909e-01 1.07885418e-01 -9.20045700e-04 2.41700848e+02] [-1.07885376e-01 9.94163335e-01 9.57910947e-05 -2.88467911e+01] [ 9.25010163e-04 4.02752273e-06 9.99999572e-01 -5.82550325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382200003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:241.73, Y:-28.85, Z:-5.83 [[ 9.94278281e-01 1.06813687e-01 -1.23969075e-03 2.41731754e+02] [-1.06813605e-01 9.94279054e-01 1.32198866e-04 -2.88473025e+01] [ 1.24671920e-03 9.73377114e-07 9.99999223e-01 -5.82586678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154203822 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:241.76, Y:-28.85, Z:-5.83 [[ 9.94499445e-01 1.04724142e-01 -1.92543301e-03 2.41761976e+02] [-1.04723952e-01 9.94501309e-01 1.99883258e-04 -2.88463352e+01] [ 1.93577825e-03 2.85516415e-06 9.99998126e-01 -5.82918882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184203822 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:241.79, Y:-28.85, Z:-5.83 [[ 9.94542805e-01 1.04308767e-01 -2.07111631e-03 2.41793299e+02] [-1.04308545e-01 9.94544962e-01 2.15319629e-04 -2.88490251e+01] [ 2.08227801e-03 1.89054114e-06 9.99997832e-01 -5.82649581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214203822 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:241.82, Y:-28.85, Z:-5.83 [[ 9.94719416e-01 1.02616609e-01 -1.76484708e-03 2.41824151e+02] [-1.02616445e-01 9.94720982e-01 1.83302557e-04 -2.88481546e+01] [ 1.77434030e-03 -1.23227803e-06 9.99998426e-01 -5.82697945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244203822 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:241.86, Y:-28.85, Z:-5.83 [[ 9.94823803e-01 1.01594915e-01 -2.01858677e-03 2.41855656e+02] [-1.01594698e-01 9.94825851e-01 2.09949775e-04 -2.88495640e+01] [ 2.02947213e-03 -3.78532046e-06 9.99997941e-01 -5.82726012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274203822 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:241.89, Y:-28.85, Z:-5.83 [[ 9.95009277e-01 9.97512388e-02 -2.49578724e-03 2.41885952e+02] [-9.97509024e-02 9.95012407e-01 2.59198223e-04 -2.88485024e+01] [ 2.50919462e-03 -8.94760695e-06 9.99996852e-01 -5.82727768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.92, Y:-28.85, Z:-5.83 [[ 9.95074981e-01 9.90945527e-02 -2.46009193e-03 2.41915365e+02] [-9.90942253e-02 9.95078022e-01 2.54912345e-04 -2.88494179e+01] [ 2.47324383e-03 -9.87599347e-06 9.99996941e-01 -5.82833080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.94, Y:-28.85, Z:-5.83 [[ 9.95096151e-01 9.88720099e-02 -2.82429846e-03 2.41944859e+02] [-9.88715775e-02 9.95100159e-01 2.92659075e-04 -2.88502494e+01] [ 2.83939563e-03 -1.19810755e-05 9.99995969e-01 -5.82951924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364203822 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:241.97, Y:-28.85, Z:-5.83 [[ 9.95110953e-01 9.87296152e-02 -2.57976164e-03 2.41974976e+02] [-9.87292549e-02 9.95114296e-01 2.66967587e-04 -2.88513955e+01] [ 2.59351530e-03 -1.09644249e-05 9.99996637e-01 -5.83303790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:242.00, Y:-28.85, Z:-5.83 [[ 9.95059637e-01 9.92621958e-02 -1.82649166e-03 2.42004415e+02] [-9.92620164e-02 9.95061313e-01 1.88808643e-04 -2.88525998e+01] [ 1.83621275e-03 -6.57461434e-06 9.99998314e-01 -5.83137691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.03, Y:-28.85, Z:-5.83 [[ 9.95084719e-01 9.90205871e-02 -1.15123691e-03 2.42033495e+02] [-9.90205156e-02 9.95085385e-01 1.19064340e-04 -2.88547167e+01] [ 1.15736885e-03 -4.48303263e-06 9.99999330e-01 -5.83228366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454203822 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.06, Y:-28.86, Z:-5.83 [[ 9.95223846e-01 9.76137696e-02 -1.02418905e-03 2.42063369e+02] [-9.76137124e-02 9.95224373e-01 1.05885121e-04 -2.88553861e+01] [ 1.02963375e-03 -5.40450187e-06 9.99999470e-01 -5.83297166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484203822 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.09, Y:-28.86, Z:-5.83 [[ 9.95303428e-01 9.67910125e-02 -1.60835262e-03 2.42093876e+02] [-9.67908695e-02 9.95304727e-01 1.66700864e-04 -2.88574692e+01] [ 1.61693611e-03 -1.02440925e-05 9.99998693e-01 -5.83406063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514203822 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.12, Y:-28.86, Z:-5.84 [[ 9.95531720e-01 9.44091842e-02 -1.87083880e-03 2.42124038e+02] [-9.44089865e-02 9.95533478e-01 1.93906759e-04 -2.88606831e+01] [ 1.88078923e-03 -1.64163342e-05 9.99998231e-01 -5.83561702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382200001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.15, Y:-28.87, Z:-5.84 [[ 9.95613021e-01 9.35493076e-02 -1.79967532e-03 2.42153935e+02] [-9.35491232e-02 9.95614648e-01 1.86530880e-04 -2.88650998e+01] [ 1.80923294e-03 -1.73545250e-05 9.99998363e-01 -5.83657902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57420382200002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:242.18, Y:-28.87, Z:-5.84 [[ 9.95706825e-01 9.25325659e-02 -2.37552353e-03 2.42183326e+02] [-9.25322425e-02 9.95709658e-01 2.45906690e-04 -2.88680054e+01] [ 2.38808609e-03 -2.50384505e-05 9.99997148e-01 -5.83890093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382200002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:242.21, Y:-28.87, Z:-5.84 [[ 9.95675089e-01 9.28638765e-02 -2.72348060e-03 2.42213975e+02] [-9.28634519e-02 9.95678814e-01 2.82247031e-04 -2.88702718e+01] [ 2.73792249e-03 -2.81145282e-05 9.99996251e-01 -5.83740825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63420382200002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:242.24, Y:-28.87, Z:-5.84 [[ 9.95515868e-01 9.45568495e-02 -2.67570616e-03 2.42242530e+02] [-9.45564482e-02 9.95519463e-01 2.76363891e-04 -2.88692740e+01] [ 2.68984966e-03 -2.21193684e-05 9.99996382e-01 -5.83828688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382200002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:242.27, Y:-28.87, Z:-5.84 [[ 9.95362117e-01 9.61753930e-02 -2.13310185e-03 2.42272133e+02] [-9.61751416e-02 9.95364402e-01 2.20365530e-04 -2.88701318e+01] [ 2.14440739e-03 -1.41921273e-05 9.99997701e-01 -5.83874226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69420382200002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:242.30, Y:-28.87, Z:-5.84 [[ 9.95069718e-01 9.91752972e-02 -7.18776880e-04 2.42300650e+02] [-9.91752697e-02 9.95069978e-01 7.37818097e-05 -2.88703930e+01] [ 7.22550626e-04 -2.13315362e-06 9.99999739e-01 -5.83948049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382200002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:242.33, Y:-28.87, Z:-5.84 [[ 9.94934024e-01 1.00529886e-01 -1.74708532e-04 2.42329738e+02] [-1.00529885e-01 9.94934039e-01 1.73098713e-05 -2.88717474e+01] [ 1.75563624e-04 3.41248688e-07 9.99999985e-01 -5.83963441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75420382200002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.36, Y:-28.87, Z:-5.84 [[ 9.94728315e-01 1.02544053e-01 5.43880061e-04 2.42359585e+02] [-1.02544037e-01 9.94728464e-01 -5.68453902e-05 -2.88705221e+01] [-5.46842135e-04 7.74061800e-07 9.99999850e-01 -5.84025998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382200002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:242.39, Y:-28.87, Z:-5.84 [[ 9.94649580e-01 1.03305965e-01 3.01049762e-04 2.42388008e+02] [-1.03305960e-01 9.94649626e-01 -3.17485950e-05 -2.88714828e+01] [-3.02718853e-04 4.78491972e-07 9.99999954e-01 -5.84099907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81420382200002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:242.42, Y:-28.87, Z:-5.84 [[ 9.94537769e-01 1.04371287e-01 -1.12299597e-03 2.42416761e+02] [-1.04371223e-01 9.94538403e-01 1.15373923e-04 -2.88686003e+01] [ 1.12890434e-03 2.46473843e-06 9.99999363e-01 -5.84234626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382200003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:242.45, Y:-28.86, Z:-5.84 [[ 9.94398608e-01 1.05667838e-01 -2.39081775e-03 2.42446002e+02] [-1.05667551e-01 9.94401482e-01 2.46084097e-04 -2.88647895e+01] [ 2.40343589e-03 7.92617396e-06 9.99997112e-01 -5.84392946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87420382200003 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.47, Y:-28.86, Z:-5.84 [[ 9.94330457e-01 1.06303802e-01 -2.53840491e-03 2.42474230e+02] [-1.06303482e-01 9.94333697e-01 2.60929736e-04 -2.88644138e+01] [ 2.55175936e-03 1.03908964e-05 9.99996744e-01 -5.84474189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904203822 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:242.50, Y:-28.86, Z:-5.85 [[ 9.94297384e-01 1.06614092e-01 -2.47940877e-03 2.42503285e+02] [-1.06613788e-01 9.94300475e-01 2.54980509e-04 -2.88642531e+01] [ 2.49246184e-03 1.08127077e-05 9.99996894e-01 -5.84522926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934203822 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.53, Y:-28.86, Z:-5.85 [[ 9.94419862e-01 1.05470339e-01 -2.26846563e-03 2.42531023e+02] [-1.05470082e-01 9.94422449e-01 2.32803239e-04 -2.88625787e+01] [ 2.28036698e-03 7.75109100e-06 9.99997400e-01 -5.84560118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964203822 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.56, Y:-28.86, Z:-5.85 [[ 9.94525020e-01 1.04465654e-01 -2.62896992e-03 2.42559983e+02] [-1.04465305e-01 9.94528495e-01 2.70143787e-04 -2.88643500e+01] [ 2.64280624e-03 5.97138850e-06 9.99996508e-01 -5.84629985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994203822 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:242.59, Y:-28.86, Z:-5.85 [[ 9.94839073e-01 1.01423536e-01 -2.91296055e-03 2.42589642e+02] [-1.01423094e-01 9.94843338e-01 2.99264165e-04 -2.88625862e+01] [ 2.92829182e-03 -2.27821193e-06 9.99995713e-01 -5.84668911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:242.62, Y:-28.86, Z:-5.85 [[ 9.95202532e-01 9.78160412e-02 -1.98539063e-03 2.42618616e+02] [-9.78158299e-02 9.95204513e-01 2.03500853e-04 -2.88593562e+01] [ 1.99577536e-03 -8.32193140e-06 9.99998008e-01 -5.84771811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:242.65, Y:-28.86, Z:-5.85 [[ 9.95367982e-01 9.61228856e-02 -1.72350796e-03 2.42647695e+02] [-9.61227242e-02 9.95369475e-01 1.76421340e-04 -2.88598247e+01] [ 1.73248534e-03 -9.93587311e-06 9.99998499e-01 -5.84826907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084203822 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:242.68, Y:-28.86, Z:-5.85 [[ 9.95516173e-01 9.45798953e-02 -1.48065858e-03 2.42675421e+02] [-9.45797753e-02 9.95517274e-01 1.51014761e-04 -2.88608130e+01] [ 1.48830415e-03 -1.02972818e-05 9.99998892e-01 -5.84860393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114203822 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.70, Y:-28.86, Z:-5.85 [[ 9.95744882e-01 9.21449869e-02 -1.19623613e-03 2.42702836e+02] [-9.21449072e-02 9.95745601e-01 1.21736388e-04 -2.88619832e+01] [ 1.20236426e-03 -1.09913186e-05 9.99999277e-01 -5.84951359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.73, Y:-28.86, Z:-5.85 [[ 9.95806685e-01 9.14716967e-02 -1.40522795e-03 2.42731785e+02] [-9.14715853e-02 9.95807676e-01 1.43455996e-04 -2.88641465e+01] [ 1.41245894e-03 -1.43160112e-05 9.99999002e-01 -5.84990267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174203822 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.76, Y:-28.86, Z:-5.85 [[ 9.95793227e-01 9.16221261e-02 -1.11134566e-03 2.42761177e+02] [-9.16220568e-02 9.95793847e-01 1.13172652e-04 -2.88628702e+01] [ 1.11704029e-03 -1.08727848e-05 9.99999376e-01 -5.84956820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.79, Y:-28.86, Z:-5.85 [[ 9.95753938e-01 9.20484878e-02 -1.08190480e-03 2.42788971e+02] [-9.20484228e-02 9.95754526e-01 1.09821476e-04 -2.88632536e+01] [ 1.08742050e-03 -9.76753650e-06 9.99999409e-01 -5.84977702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.82, Y:-28.86, Z:-5.85 [[ 9.95663441e-01 9.29953711e-02 -2.48473708e-03 2.42818041e+02] [-9.29950265e-02 9.95666541e-01 2.54082781e-04 -2.88633398e+01] [ 2.49759809e-03 -2.19127456e-05 9.99996881e-01 -5.85097970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264203822 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:242.85, Y:-28.87, Z:-5.85 [[ 9.95675188e-01 9.28321469e-02 -3.62104537e-03 2.42845864e+02] [-9.28314141e-02 9.95681772e-01 3.70301311e-04 -2.88655417e+01] [ 3.63978474e-03 -3.25530649e-05 9.99993375e-01 -5.85179645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29420382200001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.87, Y:-28.87, Z:-5.85 [[ 9.95767113e-01 9.18719720e-02 -2.71982387e-03 2.42874867e+02] [-9.18715554e-02 9.95770827e-01 2.77948803e-04 -2.88653170e+01] [ 2.73385697e-03 -2.68978279e-05 9.99996263e-01 -5.85430802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382200002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.90, Y:-28.87, Z:-5.85 [[ 9.95770331e-01 9.18370904e-02 -2.71980623e-03 2.42904044e+02] [-9.18366733e-02 9.95774045e-01 2.78120606e-04 -2.88682252e+01] [ 2.73385423e-03 -2.71662924e-05 9.99996263e-01 -5.85498008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.93, Y:-28.87, Z:-5.86 [[ 9.95839636e-01 9.11148331e-02 -1.22777812e-03 2.42933266e+02] [-9.11147485e-02 9.95840392e-01 1.24765672e-04 -2.88697362e+01] [ 1.23403905e-03 -1.23779064e-05 9.99999238e-01 -5.85515861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382200002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:242.96, Y:-28.87, Z:-5.86 [[ 9.95985293e-01 8.95093123e-02 -1.17406992e-03 2.42961900e+02] [-8.95092340e-02 9.95985985e-01 1.19174414e-04 -2.88698577e+01] [ 1.18002441e-03 -1.36058642e-05 9.99999304e-01 -5.85510324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41420382200002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:242.99, Y:-28.87, Z:-5.86 [[ 9.96059944e-01 8.86775092e-02 -9.42207691e-04 2.42989789e+02] [-8.86774589e-02 9.96060389e-01 9.50883849e-05 -2.88715587e+01] [ 9.46927960e-04 -1.11611475e-05 9.99999552e-01 -5.85600495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382200002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:243.02, Y:-28.87, Z:-5.86 [[ 9.96218186e-01 8.68766585e-02 -1.33106590e-03 2.43018889e+02] [-8.68765555e-02 9.96219075e-01 1.35117276e-04 -2.88745896e+01] [ 1.33777177e-03 -1.89678675e-05 9.99999105e-01 -5.85720538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47420382200002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:243.05, Y:-28.88, Z:-5.86 [[ 9.96301822e-01 8.58931017e-02 -2.24840465e-03 2.43047852e+02] [-8.58928038e-02 9.96304358e-01 2.28898640e-04 -2.88778300e+01] [ 2.25975617e-03 -3.49303520e-05 9.99997446e-01 -5.85793483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382200002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:243.08, Y:-28.88, Z:-5.86 [[ 9.96449647e-01 8.41362321e-02 -3.03241227e-03 2.43076241e+02] [-8.41356815e-02 9.96454260e-01 3.08935487e-04 -2.88790988e+01] [ 3.04765279e-03 -5.27045841e-05 9.99995355e-01 -5.85928206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53420382200002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:243.10, Y:-28.88, Z:-5.86 [[ 9.96499134e-01 8.35658840e-02 -2.49364244e-03 2.43104384e+02] [-8.35655114e-02 9.96502253e-01 2.53417409e-04 -2.88812269e+01] [ 2.50609736e-03 -4.41477225e-05 9.99996859e-01 -5.86037045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382200002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.13, Y:-28.88, Z:-5.86 [[ 9.96639123e-01 8.19137564e-02 -7.71712318e-04 2.43132580e+02] [-8.19137208e-02 9.96639421e-01 7.77129174e-05 -2.88842358e+01] [ 7.75484675e-04 -1.42379065e-05 9.99999699e-01 -5.86055161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.16, Y:-28.89, Z:-5.86 [[ 9.96691689e-01 8.12750990e-02 1.87157813e-04 2.43160328e+02] [-8.12750966e-02 9.96691707e-01 -2.04859213e-05 -2.88872780e+01] [-1.88203635e-04 5.20687820e-06 9.99999982e-01 -5.86051377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.19, Y:-28.89, Z:-5.86 [[ 9.96796686e-01 7.99622421e-02 1.55157361e-03 2.43188190e+02] [-7.99620908e-02 9.96797893e-01 -1.59427099e-04 -2.88934292e+01] [-1.55935346e-03 3.48493332e-05 9.99998784e-01 -5.86043248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.22, Y:-28.90, Z:-5.86 [[ 9.96855151e-01 7.92376395e-02 1.09730578e-03 2.43217037e+02] [-7.92375634e-02 9.96855755e-01 -1.12754292e-04 -2.88975429e+01] [-1.10278996e-03 2.54518611e-05 9.99999392e-01 -5.86083260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.25, Y:-28.90, Z:-5.86 [[ 9.96904368e-01 7.86187807e-02 -8.76777150e-04 2.43245090e+02] [-7.86187335e-02 9.96904753e-01 8.82969228e-05 -2.89018674e+01] [ 8.81005104e-04 -1.90924790e-05 9.99999612e-01 -5.86158118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.27, Y:-28.91, Z:-5.86 [[ 9.96942483e-01 7.81314919e-02 -1.07516759e-03 2.43273175e+02] [-7.81314203e-02 9.96943062e-01 1.08425526e-04 -2.89068453e+01] [ 1.08035232e-03 -2.40896416e-05 9.99999416e-01 -5.86299522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.30, Y:-28.91, Z:-5.86 [[ 9.96964833e-01 7.78505904e-02 -6.37522694e-04 2.43300447e+02] [-7.78505657e-02 9.96965037e-01 6.34039741e-05 -2.89120105e+01] [ 6.40523873e-04 -1.35800300e-05 9.99999795e-01 -5.86410105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774203822 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.33, Y:-28.92, Z:-5.86 [[ 9.96939367e-01 7.81765583e-02 5.69390847e-04 2.43328735e+02] [-7.81765375e-02 9.96939530e-01 -5.87967938e-05 -2.89190793e+01] [-5.72244774e-04 1.41038335e-05 9.99999836e-01 -5.86488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804203822 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.36, Y:-28.93, Z:-5.86 [[ 9.96789206e-01 8.00516096e-02 1.73743823e-03 2.43358175e+02] [-8.00514221e-02 9.96790719e-01 -1.77349657e-04 -2.89266236e+01] [-1.74605943e-03 3.76958229e-05 9.99998475e-01 -5.86454618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.39, Y:-28.93, Z:-5.86 [[ 9.96662740e-01 8.15987989e-02 2.24023378e-03 2.43387689e+02] [-8.15984914e-02 9.96665257e-01 -2.28489726e-04 -2.89317220e+01] [-2.25140767e-03 4.49274992e-05 9.99997465e-01 -5.86449253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.42, Y:-28.94, Z:-5.86 [[ 9.96425208e-01 8.44257866e-02 3.01509102e-03 2.43416473e+02] [-8.44252433e-02 9.96429769e-01 -3.07256291e-04 -2.89378337e+01] [-3.03026680e-03 5.16081208e-05 9.99995407e-01 -5.86458315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.45, Y:-28.94, Z:-5.87 [[ 9.96329142e-01 8.55706432e-02 2.43018832e-03 2.43446088e+02] [-8.55702935e-02 9.96332105e-01 -2.47696701e-04 -2.89441529e+01] [-2.44247021e-03 3.88355142e-05 9.99997016e-01 -5.86638059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.47, Y:-28.95, Z:-5.87 [[ 9.96283941e-01 8.61170416e-02 1.47129749e-03 2.43474960e+02] [-8.61169137e-02 9.96285027e-01 -1.50148051e-04 -2.89506751e+01] [-1.47876197e-03 2.28864929e-05 9.99998906e-01 -5.86689117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.50, Y:-28.96, Z:-5.87 [[ 9.96111902e-01 8.80851437e-02 1.44430697e-03 2.43503307e+02] [-8.80850222e-02 9.96112949e-01 -1.47628908e-04 -2.89577320e+01] [-1.45169679e-03 1.98331005e-05 9.99998946e-01 -5.86821844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984203822 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.53, Y:-28.97, Z:-5.87 [[ 9.95914964e-01 9.02688477e-02 2.21817690e-03 2.43531233e+02] [-9.02685679e-02 9.95917434e-01 -2.26165839e-04 -2.89658229e+01] [-2.22953678e-03 2.50102915e-05 9.99997514e-01 -5.86902014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.56, Y:-28.97, Z:-5.87 [[ 9.95840020e-01 9.10673981e-02 3.06319627e-03 2.43559861e+02] [-9.10668709e-02 9.95844731e-01 -3.11446065e-04 -2.89716738e+01] [-3.07883044e-03 3.11947564e-05 9.99995260e-01 -5.86919465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382200001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.59, Y:-28.98, Z:-5.87 [[ 9.95665672e-01 9.29488547e-02 3.22183311e-03 2.43589800e+02] [-9.29482822e-02 9.95670884e-01 -3.27294975e-04 -2.89795486e+01] [-3.23830712e-03 2.64125173e-05 9.99994756e-01 -5.86929641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07420382200002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.62, Y:-28.99, Z:-5.87 [[ 9.95552438e-01 9.41739455e-02 2.57118155e-03 2.43618926e+02] [-9.41735843e-02 9.95555758e-01 -2.61435386e-04 -2.89858923e+01] [-2.58437500e-03 1.81352530e-05 9.99996660e-01 -5.87039111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.65, Y:-29.00, Z:-5.87 [[ 9.95327478e-01 9.65348296e-02 2.05867320e-03 2.43648208e+02] [-9.65346036e-02 9.95329607e-01 -2.09109330e-04 -2.89960240e+01] [-2.06924472e-03 9.39906113e-06 9.99997859e-01 -5.87095605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.68, Y:-29.00, Z:-5.87 [[ 9.95178005e-01 9.80609428e-02 2.18836570e-03 2.43678694e+02] [-9.80606911e-02 9.95180412e-01 -2.22282821e-04 -2.90005957e+01] [-2.19961594e-03 6.61832134e-06 9.99997581e-01 -5.87140846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382200002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.71, Y:-29.00, Z:-5.87 [[ 9.94771559e-01 1.02103205e-01 2.11703802e-03 2.43708138e+02] [-1.02102979e-01 9.94773811e-01 -2.14759662e-04 -2.90044837e+01] [-2.12790163e-03 -2.51908429e-06 9.99997736e-01 -5.87234290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.74, Y:-29.01, Z:-5.87 [[ 9.94574496e-01 1.04014591e-01 1.59267591e-03 2.43737051e+02] [-1.04014464e-01 9.94575771e-01 -1.62297981e-04 -2.90092056e+01] [-1.60091823e-03 -4.24389778e-06 9.99998719e-01 -5.87329841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.77, Y:-29.02, Z:-5.87 [[ 9.94132903e-01 1.08152016e-01 1.70662679e-03 2.43766318e+02] [-1.08151877e-01 9.94134368e-01 -1.73828963e-04 -2.90169734e+01] [-1.71541630e-03 -1.17657994e-05 9.99998529e-01 -5.87356249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25420382200002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.80, Y:-29.02, Z:-5.87 [[ 9.93913806e-01 1.10128464e-01 2.65846824e-03 2.43795519e+02] [-1.10128134e-01 9.93917361e-01 -2.70433436e-04 -2.90211101e+01] [-2.67208016e-03 -2.39846215e-05 9.99996430e-01 -5.87424889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382200002 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:243.83, Y:-29.02, Z:-5.87 [[ 9.93492323e-01 1.13853899e-01 3.20827890e-03 2.43825268e+02] [-1.13853440e-01 9.93497503e-01 -3.25930350e-04 -2.90249673e+01] [-3.22452552e-03 -4.14642886e-05 9.99994800e-01 -5.87405467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31420382200002 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:243.86, Y:-29.03, Z:-5.87 [[ 9.93373616e-01 1.14901798e-01 2.53680434e-03 2.43855173e+02] [-1.14901514e-01 9.93376855e-01 -2.57975284e-04 -2.90279596e+01] [-2.54964454e-03 -3.52168179e-05 9.99996749e-01 -5.87431399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382200003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.89, Y:-29.03, Z:-5.87 [[ 9.93353829e-01 1.15083199e-01 2.00711769e-03 2.43885164e+02] [-1.15083022e-01 9.93355856e-01 -2.04183635e-04 -2.90307011e+01] [-2.01728021e-03 -2.81585721e-05 9.99997965e-01 -5.87486332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37420382200003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.91, Y:-29.03, Z:-5.88 [[ 9.93438427e-01 1.14358902e-01 1.46026179e-03 2.43913310e+02] [-1.14358807e-01 9.93439500e-01 -1.48917838e-04 -2.90323994e+01] [-1.46771182e-03 -1.90530931e-05 9.99998923e-01 -5.87603522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404203822 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.94, Y:-29.03, Z:-5.88 [[ 9.93745827e-01 1.11664773e-01 4.57052953e-04 2.43943219e+02] [-1.11664764e-01 9.93745933e-01 -4.63549131e-05 -2.90347628e+01] [-4.59370724e-04 -4.97170846e-06 9.99999894e-01 -5.87818450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.97, Y:-29.04, Z:-5.88 [[ 9.93972382e-01 1.09624420e-01 1.17927937e-03 2.43972510e+02] [-1.09624355e-01 9.93973081e-01 -1.20129322e-04 -2.90376650e+01] [-1.18534106e-03 -9.87251111e-06 9.99999297e-01 -5.87913916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:244.00, Y:-29.04, Z:-5.88 [[ 9.94201162e-01 1.07515671e-01 2.10478200e-03 2.44001727e+02] [-1.07515460e-01 9.94203390e-01 -2.13668791e-04 -2.90405713e+01] [-2.11555414e-03 -1.38668439e-05 9.99997762e-01 -5.87964230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.03, Y:-29.04, Z:-5.88 [[ 9.94645336e-01 1.03313107e-01 2.65651329e-03 2.44031941e+02] [-1.03312757e-01 9.94648884e-01 -2.69088827e-04 -2.90442928e+01] [-2.67009839e-03 -6.80376642e-06 9.99996435e-01 -5.88095542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:-29.05, Z:-5.88 [[ 9.94912966e-01 1.00725510e-01 1.60058315e-03 2.44061841e+02] [-1.00725380e-01 9.94914253e-01 -1.62294198e-04 -2.90479046e+01] [-1.60879015e-03 2.49256079e-07 9.99998706e-01 -5.88232475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.09, Y:-29.05, Z:-5.88 [[ 9.95453946e-01 9.52354312e-02 1.28594554e-03 2.44092430e+02] [-9.52353426e-02 9.95454777e-01 -1.30141007e-04 -2.90516392e+01] [-1.29249467e-03 7.08191413e-06 9.99999165e-01 -5.88334349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.12, Y:-29.05, Z:-5.88 [[ 9.95694850e-01 9.26667954e-02 2.15209635e-03 2.44124009e+02] [-9.26665412e-02 9.95697175e-01 -2.17766177e-04 -2.90545795e+01] [-2.16301595e-03 1.74013360e-05 9.99997661e-01 -5.88405216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.16, Y:-29.06, Z:-5.89 [[ 9.96111555e-01 8.80742855e-02 2.16577802e-03 2.44155304e+02] [-8.80740171e-02 9.96113909e-01 -2.19194066e-04 -2.90581991e+01] [-2.17666697e-03 2.75929712e-05 9.99997631e-01 -5.88531292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.19, Y:-29.06, Z:-5.89 [[ 9.96263881e-01 8.63470691e-02 1.56961744e-03 2.44186523e+02] [-8.63469262e-02 9.96265117e-01 -1.58749060e-04 -2.90623805e+01] [-1.57746262e-03 2.26243138e-05 9.99998756e-01 -5.88634065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.22, Y:-29.07, Z:-5.89 [[ 9.96419360e-01 8.45131349e-02 2.44739220e-03 2.44217236e+02] [-8.45127873e-02 9.96422365e-01 -2.45277153e-04 -2.90696756e+01] [-2.45936546e-03 3.75629676e-05 9.99996975e-01 -5.88560599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:-29.07, Z:-5.89 [[ 9.96419045e-01 8.45343423e-02 1.74117102e-03 2.44247924e+02] [-8.45341630e-02 9.96420566e-01 -1.76470250e-04 -2.90729560e+01] [-1.74985641e-03 2.86498836e-05 9.99998469e-01 -5.88641435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.28, Y:-29.08, Z:-5.89 [[ 9.96298115e-01 8.59496644e-02 1.64958291e-03 2.44279446e+02] [-8.59495054e-02 9.96299480e-01 -1.67186189e-04 -2.90758814e+01] [-1.65784820e-03 2.47864491e-05 9.99998625e-01 -5.88763949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.31, Y:-29.08, Z:-5.89 [[ 9.96170633e-01 8.73995620e-02 2.32081177e-03 2.44310997e+02] [-8.73992505e-02 9.96173336e-01 -2.35484255e-04 -2.90789151e+01] [-2.33251203e-03 3.17452900e-05 9.99997279e-01 -5.88754999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.34, Y:-29.08, Z:-5.89 [[ 9.96017928e-01 8.90862095e-02 3.45465504e-03 2.44341429e+02] [-8.90855275e-02 9.96023918e-01 -3.51109840e-04 -2.90813315e+01] [-3.47219809e-03 4.19519289e-05 9.99993971e-01 -5.88818869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.37, Y:-29.08, Z:-5.89 [[ 9.95709196e-01 9.24476798e-02 4.07727024e-03 2.44371973e+02] [-9.24467575e-02 9.95717543e-01 -4.14487501e-04 -2.90831675e+01] [-4.09812791e-03 3.57786029e-05 9.99991602e-01 -5.88920662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.40, Y:-29.09, Z:-5.89 [[ 9.95532681e-01 9.44039473e-02 1.60483239e-03 2.44403720e+02] [-9.44038124e-02 9.95533975e-01 -1.59762060e-04 -2.90894875e+01] [-1.61274734e-03 7.54605621e-06 9.99998699e-01 -5.89132510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.43, Y:-29.09, Z:-5.89 [[ 9.95524243e-01 9.44980751e-02 1.26283703e-03 2.44434197e+02] [-9.44979882e-02 9.95525044e-01 -1.28416539e-04 -2.90938852e+01] [-1.26932100e-03 8.50621967e-06 9.99999194e-01 -5.89228730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.46, Y:-29.10, Z:-5.89 [[ 9.95575816e-01 9.39235558e-02 2.67583686e-03 2.44464090e+02] [-9.39231652e-02 9.95579412e-01 -2.71529495e-04 -2.90960160e+01] [-2.68951111e-03 1.90051311e-05 9.99996383e-01 -5.89293742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.50, Y:-29.10, Z:-5.89 [[ 9.95630695e-01 9.33428221e-02 2.57624738e-03 2.44495340e+02] [-9.33424561e-02 9.95634028e-01 -2.62201245e-04 -2.90982451e+01] [-2.58947416e-03 2.05823493e-05 9.99996647e-01 -5.89297258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.53, Y:-29.10, Z:-5.89 [[ 9.95663710e-01 9.29988456e-02 2.23416213e-03 2.44527010e+02] [-9.29985695e-02 9.95666216e-01 -2.27368207e-04 -2.91006477e+01] [-2.24562473e-03 1.86083907e-05 9.99997478e-01 -5.89357528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.56, Y:-29.10, Z:-5.89 [[ 9.95588480e-01 9.38025495e-02 2.15876115e-03 2.44558245e+02] [-9.38022936e-02 9.95590820e-01 -2.19727283e-04 -2.91019462e+01] [-2.16985376e-03 1.62612046e-05 9.99997646e-01 -5.89427719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03420382200002 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.59, Y:-29.11, Z:-5.90 [[ 9.95474245e-01 9.50117360e-02 1.94850053e-03 2.44588422e+02] [-9.50115294e-02 9.95476152e-01 -1.98560010e-04 -2.91057790e+01] [-1.95855135e-03 1.25313600e-05 9.99998082e-01 -5.89501377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:-29.11, Z:-5.90 [[ 9.95216457e-01 9.76755667e-02 1.92013019e-03 2.44619707e+02] [-9.76753714e-02 9.95218310e-01 -1.95448531e-04 -2.91115253e+01] [-1.93003927e-03 6.96416463e-06 9.99998137e-01 -5.89550786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09420382200003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.65, Y:-29.11, Z:-5.90 [[ 9.95098282e-01 9.88702233e-02 2.02193675e-03 2.44649906e+02] [-9.88700105e-02 9.95100336e-01 -2.05203713e-04 -2.91133552e+01] [-2.03231847e-03 4.28895462e-06 9.99997935e-01 -5.89643151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.68, Y:-29.11, Z:-5.90 [[ 9.95025813e-01 9.96040827e-02 1.63058731e-03 2.44680956e+02] [-9.96039436e-02 9.95027149e-01 -1.66508115e-04 -2.91114101e+01] [-1.63906353e-03 3.26694657e-06 9.99998657e-01 -5.89746373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154203822 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.71, Y:-29.11, Z:-5.90 [[ 9.95061074e-01 9.92501167e-02 1.69491956e-03 2.44710561e+02] [-9.92499650e-02 9.95062518e-01 -1.73554143e-04 -2.91134296e+01] [-1.70377619e-03 4.47626502e-06 9.99998549e-01 -5.89749133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184203822 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.74, Y:-29.12, Z:-5.90 [[ 9.95064942e-01 9.92113315e-02 1.69488765e-03 2.44740568e+02] [-9.92111793e-02 9.95066386e-01 -1.73866848e-04 -2.91164346e+01] [-1.70377529e-03 4.85700266e-06 9.99998549e-01 -5.89818248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.77, Y:-29.12, Z:-5.90 [[ 9.95329303e-01 9.65214338e-02 1.78663005e-03 2.44769809e+02] [-9.65212625e-02 9.95330906e-01 -1.82065313e-04 -2.91181111e+01] [-1.79586131e-03 8.76715320e-06 9.99998387e-01 -5.89870998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.80, Y:-29.12, Z:-5.90 [[ 9.95544376e-01 9.42838375e-02 1.39746906e-03 2.44798749e+02] [-9.42837298e-02 9.95545357e-01 -1.42872234e-04 -2.91206238e+01] [-1.40471438e-03 1.04770534e-05 9.99999013e-01 -5.89959742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.83, Y:-29.12, Z:-5.90 [[ 9.96034773e-01 8.89633298e-02 5.07439998e-04 2.44828684e+02] [-8.89633150e-02 9.96034902e-01 -5.15411178e-05 -2.91241186e+01] [-5.10013219e-04 6.19320116e-06 9.99999870e-01 -5.90164869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:-29.13, Z:-5.90 [[ 9.96268050e-01 8.63102554e-02 7.15600326e-04 2.44859352e+02] [-8.63102252e-02 9.96268307e-01 -7.30384762e-05 -2.91280729e+01] [-7.19233895e-04 1.10022750e-05 9.99999741e-01 -5.90219494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.89, Y:-29.13, Z:-5.90 [[ 9.96594075e-01 8.24632057e-02 -2.63816314e-04 2.44890154e+02] [-8.24632013e-02 9.96594110e-01 2.74917646e-05 -2.91322274e+01] [ 2.65184843e-04 -5.64299185e-06 9.99999965e-01 -5.90261322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:-29.14, Z:-5.90 [[ 9.96673895e-01 8.14932249e-02 -2.12467286e-05 2.44920490e+02] [-8.14932249e-02 9.96673896e-01 3.46497502e-06 -2.91354314e+01] [ 2.14584314e-05 -1.72198572e-06 1.00000000e+00 -5.90218053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.95, Y:-29.14, Z:-5.90 [[ 9.96753797e-01 8.05098125e-02 1.98150617e-04 2.44950837e+02] [-8.05098101e-02 9.96753816e-01 -1.99666882e-05 -2.91372477e+01] [-1.99114898e-04 3.94880368e-06 9.99999980e-01 -5.90312071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:-29.14, Z:-5.90 [[ 9.96765863e-01 8.03605095e-02 5.51491027e-05 2.44981409e+02] [-8.03605093e-02 9.96765864e-01 -5.63400292e-06 -2.91404806e+01] [-5.54234947e-05 1.18397180e-06 9.99999998e-01 -5.90287572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:-29.15, Z:-5.90 [[ 9.96783796e-01 8.01084066e-02 2.16948011e-03 2.45011539e+02] [-8.01081144e-02 9.96786156e-01 -2.21382399e-04 -2.91462274e+01] [-2.18024233e-03 4.68774270e-05 9.99997622e-01 -5.90240589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.04, Y:-29.15, Z:-5.90 [[ 9.96785739e-01 8.00590774e-02 2.95532155e-03 2.45041377e+02] [-8.00585346e-02 9.96790118e-01 -3.01712909e-04 -2.91500739e+01] [-2.96999017e-03 6.41444127e-05 9.99995588e-01 -5.90217871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:-29.15, Z:-5.90 [[ 9.96789381e-01 8.00271940e-02 2.56465945e-03 2.45072102e+02] [-8.00267857e-02 9.96792679e-01 -2.61586829e-04 -2.91541659e+01] [-2.57736783e-03 5.55055210e-05 9.99996677e-01 -5.90293371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382200001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.10, Y:-29.16, Z:-5.90 [[ 9.96787840e-01 8.00675532e-02 1.78586888e-03 2.45102853e+02] [-8.00673555e-02 9.96789439e-01 -1.82027508e-04 -2.91584369e+01] [-1.79470974e-03 3.84530081e-05 9.99998389e-01 -5.90427914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.13, Y:-29.16, Z:-5.91 [[ 9.96733967e-01 8.07008179e-02 2.96263116e-03 2.45133012e+02] [-8.07002747e-02 9.96738368e-01 -3.02637566e-04 -2.91647842e+01] [-2.97739124e-03 6.25639931e-05 9.99995566e-01 -5.90548866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.16, Y:-29.17, Z:-5.91 [[ 9.96639349e-01 8.18507105e-02 3.23557223e-03 2.45164358e+02] [-8.18500692e-02 9.96644599e-01 -3.30353270e-04 -2.91692603e+01] [-3.25175524e-03 6.44112567e-05 9.99994711e-01 -5.90597561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.20, Y:-29.17, Z:-5.91 [[ 9.96383118e-01 8.49553003e-02 1.81065570e-03 2.45195111e+02] [-8.49551050e-02 9.96384763e-01 -1.84675514e-04 -2.91727287e+01] [-1.81979892e-03 3.01831195e-05 9.99998344e-01 -5.90597204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.23, Y:-29.18, Z:-5.91 [[ 9.96228031e-01 8.67616020e-02 1.46109217e-03 2.45225017e+02] [-8.67614765e-02 9.96229102e-01 -1.49204362e-04 -2.91756359e+01] [-1.46852775e-03 2.18750540e-05 9.99998921e-01 -5.90665136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.26, Y:-29.18, Z:-5.91 [[ 9.95833766e-01 9.11840016e-02 7.67546794e-04 2.45255038e+02] [-9.11839682e-02 9.95834061e-01 -7.85215122e-05 -2.91785356e+01] [-7.71509148e-04 8.20641074e-06 9.99999702e-01 -5.90736112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.28, Y:-29.18, Z:-5.91 [[ 9.95624424e-01 9.34442244e-02 4.27011538e-04 2.45284438e+02] [-9.34442141e-02 9.95624516e-01 -4.39435986e-05 -2.91822511e+01] [-4.29249432e-04 3.84956248e-06 9.99999908e-01 -5.90844992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.31, Y:-29.19, Z:-5.91 [[ 9.95247819e-01 9.73726119e-02 5.93904501e-04 2.45313033e+02] [-9.73725928e-02 9.95247996e-01 -6.10074795e-05 -2.91879939e+01] [-5.97022723e-04 2.88753978e-06 9.99999822e-01 -5.90944702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382200002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.34, Y:-29.19, Z:-5.91 [[ 9.95099298e-01 9.88758506e-02 9.76600711e-04 2.45343013e+02] [-9.88758002e-02 9.95099777e-01 -9.98854970e-05 -2.91913769e+01] [-9.81691413e-04 2.83381124e-06 9.99999518e-01 -5.90965700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.37, Y:-29.19, Z:-5.91 [[ 9.94872172e-01 1.01120163e-01 2.01841112e-03 2.45373039e+02] [-1.01119951e-01 9.94874220e-01 -2.06679152e-04 -2.91899352e+01] [-2.02896461e-03 1.51770268e-06 9.99997942e-01 -5.91063544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.40, Y:-29.19, Z:-5.91 [[ 9.94808899e-01 1.01754141e-01 1.16180033e-03 2.45403964e+02] [-1.01754072e-01 9.94809577e-01 -1.18814137e-04 -2.91910955e+01] [-1.16785992e-03 -2.05532763e-08 9.99999318e-01 -5.91168990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.43, Y:-29.19, Z:-5.91 [[ 9.94836613e-01 1.01489474e-01 3.40307440e-05 2.45433501e+02] [-1.01489474e-01 9.94836613e-01 -3.73926999e-06 -2.91948176e+01] [-3.42345270e-05 2.66200389e-07 9.99999999e-01 -5.91349276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:-29.20, Z:-5.91 [[ 9.94893884e-01 1.00926275e-01 2.15080260e-04 2.45462564e+02] [-1.00926272e-01 9.94893907e-01 -2.17059452e-05 -2.91984510e+01] [-2.16172741e-04 -1.12136812e-07 9.99999977e-01 -5.91384336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.49, Y:-29.20, Z:-5.91 [[ 9.94981743e-01 1.00052609e-01 8.98475366e-04 2.45492190e+02] [-1.00052567e-01 9.94982148e-01 -9.21322818e-05 -2.92016958e+01] [-9.03185025e-04 1.77517150e-06 9.99999592e-01 -5.91405880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.52, Y:-29.21, Z:-5.91 [[ 9.95224338e-01 9.75920053e-02 2.07807736e-03 2.45521180e+02] [-9.75917738e-02 9.95226507e-01 -2.12729486e-04 -2.92057507e+01] [-2.08891837e-03 8.91030598e-06 9.99997818e-01 -5.91402454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.55, Y:-29.21, Z:-5.91 [[ 9.95417696e-01 9.55819540e-02 2.77486605e-03 2.45552534e+02] [-9.55815357e-02 9.95421564e-01 -2.83274244e-04 -2.92085874e+01] [-2.78923741e-03 1.67502365e-05 9.99996110e-01 -5.91424498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:-29.21, Z:-5.92 [[ 9.95479180e-01 9.49365985e-02 2.87120346e-03 2.45583930e+02] [-9.49361478e-02 9.95483321e-01 -2.93156452e-04 -2.92110195e+01] [-2.88606644e-03 1.92501481e-05 9.99995835e-01 -5.91523553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.61, Y:-29.21, Z:-5.92 [[ 9.95539223e-01 9.42921600e-02 3.26239152e-03 2.45614701e+02] [-9.42915826e-02 9.95544569e-01 -3.30695565e-04 -2.92144191e+01] [-3.27903815e-03 2.16043474e-05 9.99994624e-01 -5.91665566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.65, Y:-29.22, Z:-5.92 [[ 9.95548306e-01 9.42327872e-02 1.93720008e-03 2.45646060e+02] [-9.42325861e-02 9.95550190e-01 -1.95001263e-04 -2.92192600e+01] [-1.94695542e-03 1.15858036e-05 9.99998105e-01 -5.91674802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.68, Y:-29.22, Z:-5.92 [[ 9.95525184e-01 9.44700364e-02 2.24052426e-03 2.45676009e+02] [-9.44697608e-02 9.95527705e-01 -2.28760844e-04 -2.92213769e+01] [-2.25211502e-03 1.60753901e-05 9.99997464e-01 -5.91658252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.71, Y:-29.22, Z:-5.92 [[ 9.95512448e-01 9.46016873e-02 2.34248576e-03 2.45706938e+02] [-9.46013844e-02 9.95515204e-01 -2.40017973e-04 -2.92237686e+01] [-2.35468629e-03 1.73384847e-05 9.99997228e-01 -5.91701737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.74, Y:-29.23, Z:-5.92 [[ 9.95535802e-01 9.43652033e-02 1.91714604e-03 2.45736933e+02] [-9.43649996e-02 9.95537648e-01 -1.96631937e-04 -2.92264298e+01] [-1.92714627e-03 1.48426475e-05 9.99998143e-01 -5.91731883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:-29.23, Z:-5.92 [[ 9.95643458e-01 9.32330692e-02 1.30389364e-03 2.45768439e+02] [-9.32329744e-02 9.95644311e-01 -1.33393458e-04 -2.92308480e+01] [-1.31065096e-03 1.12464420e-05 9.99999141e-01 -5.91827643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.80, Y:-29.24, Z:-5.92 [[ 9.95719924e-01 9.24115224e-02 1.39393401e-03 2.45798676e+02] [-9.24114129e-02 9.95720900e-01 -1.42939075e-04 -2.92358530e+01] [-1.40117844e-03 1.35118736e-05 9.99999018e-01 -5.91986343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:-29.24, Z:-5.92 [[ 9.95789351e-01 9.16605890e-02 1.38006916e-03 2.45829487e+02] [-9.16604812e-02 9.95790307e-01 -1.41262707e-04 -2.92398144e+01] [-1.38720772e-03 1.41700954e-05 9.99999038e-01 -5.92006576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29420382200001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.86, Y:-29.24, Z:-5.92 [[ 9.95839020e-01 9.10640261e-02 3.46255418e-03 2.45861123e+02] [-9.10633458e-02 9.95845039e-01 -3.53931657e-04 -2.92416978e+01] [-3.48039784e-03 3.71471866e-05 9.99993943e-01 -5.92060869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.89, Y:-29.25, Z:-5.92 [[ 9.95860058e-01 9.08428685e-02 3.21204006e-03 2.45893086e+02] [-9.08422861e-02 9.95865238e-01 -3.27064173e-04 -2.92451087e+01] [-3.22847049e-03 3.39210843e-05 9.99994788e-01 -5.92139118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:-29.25, Z:-5.92 [[ 9.95878360e-01 9.06945738e-02 8.86986870e-04 2.45923804e+02] [-9.06945314e-02 9.95878755e-01 -8.79468996e-05 -2.92515291e+01] [-8.91307687e-04 7.13955552e-06 9.99999603e-01 -5.92289749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.95, Y:-29.26, Z:-5.92 [[ 9.95904066e-01 9.04159232e-02 2.27095819e-04 2.45954605e+02] [-9.04159203e-02 9.95904092e-01 -2.28908279e-05 -2.92560142e+01] [-2.28235352e-04 2.26399112e-06 9.99999974e-01 -5.92400490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:-29.26, Z:-5.92 [[ 9.95938709e-01 9.00337835e-02 7.08340704e-05 2.45986085e+02] [-9.00337833e-02 9.95938712e-01 -6.76500843e-06 -2.92601965e+01] [-7.11554724e-05 3.60074422e-07 9.99999997e-01 -5.92482385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382200002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.02, Y:-29.26, Z:-5.93 [[ 9.96040516e-01 8.88990049e-02 5.06690298e-04 2.46016243e+02] [-8.88989904e-02 9.96040645e-01 -5.10662505e-05 -2.92640881e+01] [-5.09223870e-04 5.81979855e-06 9.99999870e-01 -5.92500882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:-29.27, Z:-5.93 [[ 9.96022304e-01 8.90975375e-02 1.09485493e-03 2.46046453e+02] [-8.90974673e-02 9.96022906e-01 -1.12834913e-04 -2.92665807e+01] [-1.10055391e-03 1.48372888e-05 9.99999394e-01 -5.92532141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:-29.27, Z:-5.93 [[ 9.95981861e-01 8.95521325e-02 7.40542392e-04 2.46077762e+02] [-8.95521010e-02 9.95982136e-01 -7.57259868e-05 -2.92703547e+01] [-7.44348417e-04 9.10458219e-06 9.99999723e-01 -5.92591397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:-29.27, Z:-5.93 [[ 9.95969358e-01 8.96913517e-02 7.07108157e-04 2.46109315e+02] [-8.96913228e-02 9.95969609e-01 -7.25540044e-05 -2.92744772e+01] [-7.10765702e-04 8.84009921e-06 9.99999747e-01 -5.92688833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382200002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.14, Y:-29.28, Z:-5.93 [[ 9.95948712e-01 8.99171357e-02 1.03491412e-03 2.46140059e+02] [-8.99170765e-02 9.95949250e-01 -1.03679815e-04 -2.92796133e+01] [-1.04004453e-03 1.02033259e-05 9.99999459e-01 -5.92794441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:-29.29, Z:-5.93 [[ 9.95876970e-01 9.07087726e-02 9.89392147e-04 2.46170156e+02] [-9.07087189e-02 9.95877462e-01 -9.91337908e-05 -2.92866766e+01] [-9.94305645e-04 8.97856507e-06 9.99999506e-01 -5.92905462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382200003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.20, Y:-29.29, Z:-5.93 [[ 9.95792034e-01 9.16387858e-02 7.47357097e-04 2.46201039e+02] [-9.16387538e-02 9.95792314e-01 -7.69681946e-05 -2.92908209e+01] [-7.51265726e-04 8.15744194e-06 9.99999718e-01 -5.93029247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65420382200003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.23, Y:-29.29, Z:-5.93 [[ 9.95713532e-01 9.24873605e-02 8.06582344e-04 2.46231965e+02] [-9.24873235e-02 9.95713859e-01 -8.31262858e-05 -2.92933125e+01] [-8.10813349e-04 8.17132550e-06 9.99999671e-01 -5.93196505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:-29.30, Z:-5.93 [[ 9.95499734e-01 9.47452951e-02 1.89985439e-03 2.46263071e+02] [-9.47450926e-02 9.95501546e-01 -1.96530609e-04 -2.92999714e+01] [-1.90992833e-03 1.56442885e-05 9.99998176e-01 -5.93210502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:-29.30, Z:-5.93 [[ 9.95417839e-01 9.55746380e-02 2.96904079e-03 2.46294094e+02] [-9.55741538e-02 9.95422266e-01 -3.04860599e-04 -2.93044444e+01] [-2.98458625e-03 1.97001171e-05 9.99995546e-01 -5.93274222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.33, Y:-29.31, Z:-5.93 [[ 9.95217076e-01 9.76503907e-02 2.71536427e-03 2.46325650e+02] [-9.76499931e-02 9.95220780e-01 -2.78926238e-04 -2.93112071e+01] [-2.72962420e-03 1.24368527e-05 9.99996274e-01 -5.93370111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.36, Y:-29.32, Z:-5.93 [[ 9.95122521e-01 9.86215496e-02 2.22670124e-03 2.46357012e+02] [-9.86212859e-02 9.95125012e-01 -2.28202073e-04 -2.93169081e+01] [-2.23835174e-03 7.48888271e-06 9.99997495e-01 -5.93467031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.39, Y:-29.32, Z:-5.94 [[ 9.94854752e-01 1.01294619e-01 1.85000597e-03 2.46389107e+02] [-1.01294441e-01 9.94856472e-01 -1.89512265e-04 -2.93218655e+01] [-1.85968698e-03 1.14185634e-06 9.99998271e-01 -5.93522826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:-29.33, Z:-5.94 [[ 9.94675783e-01 1.03036926e-01 1.86528412e-03 2.46421490e+02] [-1.03036749e-01 9.94677532e-01 -1.91201462e-04 -2.93254910e+01] [-1.87505702e-03 -2.00934743e-06 9.99998242e-01 -5.93637559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.45, Y:-29.33, Z:-5.94 [[ 9.94492550e-01 1.04794822e-01 1.61645132e-03 2.46452966e+02] [-1.04794692e-01 9.94493864e-01 -1.65228200e-04 -2.93297423e+01] [-1.62486598e-03 -5.07730474e-06 9.99998680e-01 -5.93733167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:-29.34, Z:-5.94 [[ 9.94127936e-01 1.08202565e-01 1.36047511e-03 2.46484214e+02] [-1.08202477e-01 9.94128867e-01 -1.38810763e-04 -2.93357050e+01] [-1.36750726e-03 -9.21111879e-06 9.99999065e-01 -5.93789585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.51, Y:-29.34, Z:-5.94 [[ 9.93813068e-01 1.11057896e-01 1.31528585e-03 2.46514956e+02] [-1.11057815e-01 9.93813938e-01 -1.34584097e-04 -2.93390828e+01] [-1.32209604e-03 -1.23213389e-05 9.99999126e-01 -5.93945505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.55, Y:-29.34, Z:-5.94 [[ 9.93655007e-01 1.12465788e-01 1.08313325e-03 2.46547315e+02] [-1.12465734e-01 9.93655598e-01 -1.10095510e-04 -2.93423486e+01] [-1.08864340e-03 -1.24184213e-05 9.99999407e-01 -5.94018049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:-29.35, Z:-5.94 [[ 9.93530965e-01 1.13553157e-01 1.37924184e-03 2.46577911e+02] [-1.13553068e-01 9.93531922e-01 -1.43113145e-04 -2.93450193e+01] [-1.38657175e-03 -1.44298020e-05 9.99999039e-01 -5.94111333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014203822 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.61, Y:-29.35, Z:-5.94 [[ 9.93303406e-01 1.15517227e-01 2.02805864e-03 2.46609740e+02] [-1.15517033e-01 9.93305477e-01 -2.13108636e-04 -2.93458162e+01] [-2.03909948e-03 -2.25937827e-05 9.99997921e-01 -5.94209304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:-29.35, Z:-5.94 [[ 9.93194102e-01 1.16440868e-01 2.64586526e-03 2.46641139e+02] [-1.16440547e-01 9.93197625e-01 -2.75620616e-04 -2.93483488e+01] [-2.65996060e-03 -3.43412273e-05 9.99996462e-01 -5.94283907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:-29.35, Z:-5.94 [[ 9.93146411e-01 1.16861189e-01 1.91535089e-03 2.46672901e+02] [-1.16861023e-01 9.93148258e-01 -1.98553907e-04 -2.93509265e+01] [-1.92543065e-03 -2.66367651e-05 9.99998146e-01 -5.94376094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.70, Y:-29.36, Z:-5.94 [[ 9.93203858e-01 1.16377782e-01 1.51943432e-03 2.46703313e+02] [-1.16377678e-01 9.93205020e-01 -1.57249265e-04 -2.93551274e+01] [-1.52741011e-03 -2.06476604e-05 9.99998833e-01 -5.94421560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:-29.36, Z:-5.94 [[ 9.93204146e-01 1.16375324e-01 1.51905712e-03 2.46734133e+02] [-1.16375214e-01 9.93205308e-01 -1.60813505e-04 -2.93583854e+01] [-1.52745032e-03 -1.70599574e-05 9.99998833e-01 -5.94492615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.77, Y:-29.36, Z:-5.95 [[ 9.93314138e-01 1.15434025e-01 1.41752960e-03 2.46765060e+02] [-1.15433929e-01 9.93315149e-01 -1.49507621e-04 -2.93623972e+01] [-1.42531189e-03 -1.51229775e-05 9.99998984e-01 -5.94564620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:-29.36, Z:-5.95 [[ 9.93633916e-01 1.12626255e-01 2.63963248e-03 2.46797005e+02] [-1.12625919e-01 9.93637422e-01 -2.76070870e-04 -2.93622433e+01] [-2.65393045e-03 -2.29776538e-05 9.99996478e-01 -5.94511633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:-29.36, Z:-5.95 [[ 9.93817789e-01 1.10985412e-01 2.90511799e-03 2.46828495e+02] [-1.10984995e-01 9.93822035e-01 -3.04932958e-04 -2.93628812e+01] [-2.92101339e-03 -1.93767078e-05 9.99995734e-01 -5.94585039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:-29.36, Z:-5.95 [[ 9.94199759e-01 1.07532480e-01 1.89864356e-03 2.46860618e+02] [-1.07532298e-01 9.94201572e-01 -1.98035123e-04 -2.93647138e+01] [-1.90892962e-03 -7.27903280e-06 9.99998178e-01 -5.94627235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:-29.37, Z:-5.95 [[ 9.94408222e-01 1.05577864e-01 2.36687981e-03 2.46891564e+02] [-1.05577568e-01 9.94411039e-01 -2.49755959e-04 -2.93686510e+01] [-2.38002011e-03 -1.53003554e-06 9.99997168e-01 -5.94711840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:-29.37, Z:-5.95 [[ 9.94860328e-01 1.01206874e-01 3.17765039e-03 2.46923221e+02] [-1.01206320e-01 9.94865402e-01 -3.34895236e-04 -2.93724685e+01] [-3.19522814e-03 1.15756805e-05 9.99994895e-01 -5.94715661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:-29.38, Z:-5.95 [[ 9.95114681e-01 9.86795890e-02 3.01830450e-03 2.46954659e+02] [-9.86790778e-02 9.95119258e-01 -3.18191439e-04 -2.93753449e+01] [-3.03497193e-03 1.87934683e-05 9.99995394e-01 -5.94744839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.99, Y:-29.38, Z:-5.95 [[ 9.95378083e-01 9.59839630e-02 3.09035737e-03 2.46987150e+02] [-9.59834127e-02 9.95382880e-01 -3.26234493e-04 -2.93781479e+01] [-3.10740209e-03 2.81036183e-05 9.99995172e-01 -5.94812429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.02, Y:-29.38, Z:-5.95 [[ 9.95981040e-01 8.94393230e-02 4.73024291e-03 2.47018870e+02] [-8.94379385e-02 9.95992270e-01 -5.03860619e-04 -2.93805127e+01] [-4.75635032e-03 7.87724488e-05 9.99988685e-01 -5.94833302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.05, Y:-29.39, Z:-5.95 [[ 9.96578050e-01 8.24539667e-02 5.79081985e-03 2.47050599e+02] [-8.24517718e-02 9.96594865e-01 -6.17153110e-04 -2.93878807e+01] [-5.82198805e-03 1.37577886e-04 9.99983043e-01 -5.94916436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.08, Y:-29.40, Z:-5.95 [[ 9.96838078e-01 7.92771852e-02 5.38274022e-03 2.47082831e+02] [-7.92752398e-02 9.96852600e-01 -5.74147164e-04 -2.93951978e+01] [-5.41131536e-03 1.45613734e-04 9.99985348e-01 -5.95036775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.11, Y:-29.40, Z:-5.95 [[ 9.97045690e-01 7.66878381e-02 4.34368712e-03 2.47114684e+02] [-7.66865470e-02 9.97055143e-01 -4.63251528e-04 -2.94028887e+01] [-4.36642134e-03 1.28780574e-04 9.99990459e-01 -5.95182582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:247.15, Y:-29.41, Z:-5.95 [[ 9.97297243e-01 7.34587270e-02 1.42300193e-03 2.47146668e+02] [-7.34585890e-02 9.97298257e-01 -1.49114974e-04 -2.94099794e+01] [-1.43011114e-03 4.41802391e-05 9.99998976e-01 -5.95471849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.18, Y:-29.42, Z:-5.95 [[ 9.97323999e-01 7.30982557e-02 1.21940107e-03 2.47178340e+02] [-7.30981542e-02 9.97324743e-01 -1.27665324e-04 -2.94161177e+01] [-1.22547097e-03 3.81877244e-05 9.99999248e-01 -5.95386743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:247.21, Y:-29.42, Z:-5.96 [[ 9.97229329e-01 7.43350527e-02 2.82225139e-03 2.47210500e+02] [-7.43344980e-02 9.97233319e-01 -3.01081294e-04 -2.94235163e+01] [-2.83682402e-03 9.04564564e-05 9.99995972e-01 -5.95535131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.24, Y:-29.43, Z:-5.95 [[ 9.97120744e-01 7.57463132e-02 3.56622391e-03 2.47242660e+02] [-7.57454301e-02 9.97127115e-01 -3.82243207e-04 -2.94311226e+01] [-3.58493207e-03 1.11017467e-04 9.99993568e-01 -5.95412493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644203822 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:247.27, Y:-29.44, Z:-5.96 [[ 9.97004716e-01 7.72379340e-02 3.98718824e-03 2.47274133e+02] [-7.72368361e-02 9.97012682e-01 -4.28843990e-04 -2.94367901e+01] [-4.00840026e-03 1.19601676e-04 9.99991959e-01 -5.95637426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.31, Y:-29.45, Z:-5.96 [[ 9.96692570e-01 8.11557967e-02 4.20198454e-03 2.47305807e+02] [-8.11546034e-02 9.96701422e-01 -4.54002039e-04 -2.94455329e+01] [-4.22496886e-03 1.11490071e-04 9.99991069e-01 -5.95575560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:-29.45, Z:-5.96 [[ 9.96441955e-01 8.41871147e-02 3.99489547e-03 2.47338698e+02] [-8.41860646e-02 9.96449959e-01 -4.30592695e-04 -2.94498107e+01] [-4.01696378e-03 9.27460998e-05 9.99991928e-01 -5.95622689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:-29.45, Z:-5.96 [[ 9.95776737e-01 9.17001230e-02 4.44709778e-03 2.47370421e+02] [-9.16988896e-02 9.95786665e-01 -4.80894561e-04 -2.94542667e+01] [-4.47245876e-03 7.10696887e-05 9.99989996e-01 -5.95691917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:-29.46, Z:-5.96 [[ 9.95396686e-01 9.57509714e-02 4.14606736e-03 2.47402557e+02] [-9.57499334e-02 9.95405319e-01 -4.48584639e-04 -2.94598793e+01] [-4.16996992e-03 4.95339893e-05 9.99991304e-01 -5.95790324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79420382200001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:247.44, Y:-29.46, Z:-5.96 [[ 9.94596271e-01 1.03757175e-01 3.56472534e-03 2.47435299e+02] [-1.03756460e-01 9.94602659e-01 -3.85539744e-04 -2.94648601e+01] [-3.58548782e-03 1.35931106e-05 9.99993572e-01 -5.96043174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:-29.47, Z:-5.96 [[ 9.94196722e-01 1.07494418e-01 4.22234298e-03 2.47466699e+02] [-1.07493435e-01 9.94205688e-01 -4.59736636e-04 -2.94694015e+01] [-4.24729653e-03 3.19450781e-06 9.99990980e-01 -5.96033297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:-29.47, Z:-5.96 [[ 9.93807316e-01 1.11039212e-01 4.16073899e-03 2.47499093e+02] [-1.11038291e-01 9.93816026e-01 -4.52420509e-04 -2.94730739e+01] [-4.18524551e-03 -1.23825360e-05 9.99991242e-01 -5.96061656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.53, Y:-29.47, Z:-5.96 [[ 9.93130605e-01 1.16913840e-01 4.77034098e-03 2.47531975e+02] [-1.16912690e-01 9.93142061e-01 -5.20061193e-04 -2.94749041e+01] [-4.79842862e-03 -4.12247103e-05 9.99988487e-01 -5.96102175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.56, Y:-29.47, Z:-5.96 [[ 9.92684568e-01 1.20616730e-01 5.38084876e-03 2.47564083e+02] [-1.20615307e-01 9.92699149e-01 -5.89460998e-04 -2.94738668e+01] [-5.41266284e-03 -6.38638868e-05 9.99985349e-01 -5.96217060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382200002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:247.60, Y:-29.48, Z:-5.96 [[ 9.92562916e-01 1.21618201e-01 5.27926038e-03 2.47596915e+02] [-1.21616848e-01 9.92576953e-01 -5.77839688e-04 -2.94770484e+01] [-5.31034801e-03 -6.85047618e-05 9.99985898e-01 -5.96315618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.63, Y:-29.48, Z:-5.96 [[ 9.92529404e-01 1.21889604e-01 5.32030175e-03 2.47629679e+02] [-1.21888230e-01 9.92543661e-01 -5.83054640e-04 -2.94809162e+01] [-5.35170008e-03 -6.97832872e-05 9.99985677e-01 -5.96405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382200002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.66, Y:-29.48, Z:-5.97 [[ 9.92614725e-01 1.21203195e-01 5.07863711e-03 2.47662271e+02] [-1.21201930e-01 9.92627716e-01 -5.57357144e-04 -2.94819013e+01] [-5.10874942e-03 -6.22997082e-05 9.99986948e-01 -5.96625544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.69, Y:-29.48, Z:-5.97 [[ 9.92702949e-01 1.20483687e-01 4.95341736e-03 2.47694289e+02] [-1.20482463e-01 9.92715306e-01 -5.45778287e-04 -2.94846969e+01] [-4.98309061e-03 -5.50042097e-05 9.99987583e-01 -5.96644353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.73, Y:-29.49, Z:-5.96 [[ 9.93052858e-01 1.17593506e-01 4.21757357e-03 2.47725154e+02] [-1.17629012e-01 9.93012238e-01 9.49270905e-03 -2.94933747e+01] [-3.07182123e-03 -9.92287087e-03 9.99946049e-01 -5.96149473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.76, Y:-29.48, Z:-5.97 [[ 9.93221753e-01 1.16165779e-01 4.00751640e-03 2.47758274e+02] [-1.16118844e-01 9.93180494e-01 -1.04364690e-02 -2.94845717e+01] [-5.19254767e-03 9.90037983e-03 9.99937508e-01 -5.96853475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:-29.49, Z:-5.97 [[ 9.93615903e-01 1.12705637e-01 4.98758292e-03 2.47790176e+02] [-1.12704295e-01 9.93628421e-01 -5.50238643e-04 -2.94882817e+01] [-5.01781914e-03 -1.53961512e-05 9.99987411e-01 -5.96833719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.82, Y:-29.49, Z:-5.97 [[ 9.93812935e-01 1.10944470e-01 5.21290074e-03 2.47822751e+02] [-1.10942973e-01 9.93826607e-01 -5.76313315e-04 -2.94891752e+01] [-5.24465823e-03 -5.58707881e-06 9.99986247e-01 -5.96910908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:-29.49, Z:-5.97 [[ 9.94288123e-01 1.06582573e-01 5.59321203e-03 2.47855835e+02] [-1.06580776e-01 9.94303854e-01 -6.19323764e-04 -2.94915865e+01] [-5.62736140e-03 1.96573849e-05 9.99984166e-01 -5.96982078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:-29.50, Z:-5.97 [[ 9.94521680e-01 1.04398340e-01 5.25497307e-03 2.47887860e+02] [-1.04396718e-01 9.94535563e-01 -5.82867746e-04 -2.94957093e+01] [-5.28710803e-03 3.10726707e-05 9.99986023e-01 -5.97030866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.92, Y:-29.50, Z:-5.97 [[ 9.94917219e-01 1.00592079e-01 4.57835694e-03 2.47920160e+02] [-1.00590807e-01 9.94927752e-01 -5.08006552e-04 -2.95007955e+01] [-4.60623582e-03 4.48838480e-05 9.99989390e-01 -5.97194156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.95, Y:-29.50, Z:-5.97 [[ 9.95087805e-01 9.89000608e-02 4.36336785e-03 2.47952431e+02] [-9.88988864e-02 9.95097370e-01 -4.84633734e-04 -2.95047149e+01] [-4.38990618e-03 5.07208968e-05 9.99990363e-01 -5.97251096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.98, Y:-29.51, Z:-5.97 [[ 9.95358372e-01 9.61244351e-02 4.66955215e-03 2.47984597e+02] [-9.61230525e-02 9.95369323e-01 -5.20142425e-04 -2.95057365e+01] [-4.69792735e-03 6.88765114e-05 9.99988962e-01 -5.97461936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:-29.51, Z:-5.97 [[ 9.95455295e-01 9.50972412e-02 5.02694368e-03 2.48016636e+02] [-9.50956192e-02 9.95467985e-01 -5.61248278e-04 -2.95087616e+01] [-5.05753466e-03 8.06572487e-05 9.99987207e-01 -5.97405617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:-29.51, Z:-5.98 [[ 9.95570765e-01 9.39088718e-02 4.46943892e-03 2.48048723e+02] [-9.39075760e-02 9.95580794e-01 -4.99384562e-04 -2.95115010e+01] [-4.49658419e-03 7.74584950e-05 9.99989887e-01 -5.97518560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.08, Y:-29.52, Z:-5.98 [[ 9.95594900e-01 9.36632345e-02 4.24178895e-03 2.48081846e+02] [-9.36620636e-02 9.95603934e-01 -4.74291866e-04 -2.95159664e+01] [-4.26756548e-03 7.49078560e-05 9.99990891e-01 -5.97590462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-29.52, Z:-5.98 [[ 9.95551746e-01 9.41608344e-02 3.23382083e-03 2.48113274e+02] [-9.41601570e-02 9.95556997e-01 -3.61425035e-04 -2.95220224e+01] [-3.25348503e-03 5.53202485e-05 9.99994706e-01 -5.97652278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.15, Y:-29.53, Z:-5.98 [[ 9.95495451e-01 9.47519626e-02 3.29733707e-03 2.48145954e+02] [-9.47512601e-02 9.95500910e-01 -3.68978165e-04 -2.95266104e+01] [-3.31746346e-03 5.48892431e-05 9.99994496e-01 -5.97702563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:-29.53, Z:-5.98 [[ 9.95416093e-01 9.55375689e-02 4.40177481e-03 2.48177246e+02] [-9.55363085e-02 9.95425822e-01 -4.96219975e-04 -2.95309011e+01] [-4.42904796e-03 7.34160325e-05 9.99990189e-01 -5.97780070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:-29.54, Z:-5.98 [[ 9.95387975e-01 9.58203900e-02 4.60785300e-03 2.48209853e+02] [-9.58190151e-02 9.95398637e-01 -5.18750828e-04 -2.95353435e+01] [-4.63635750e-03 7.48384002e-05 9.99989249e-01 -5.97867794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382200001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:-29.54, Z:-5.98 [[ 9.95366911e-01 9.60452541e-02 4.47446519e-03 2.48242216e+02] [-9.60439564e-02 9.95376966e-01 -5.04484750e-04 -2.95403736e+01] [-4.50223295e-03 7.24020870e-05 9.99989862e-01 -5.97975771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57420382200002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.27, Y:-29.55, Z:-5.98 [[ 9.95307664e-01 9.66903879e-02 3.69097986e-03 2.48273774e+02] [-9.66895087e-02 9.95314506e-01 -4.16342164e-04 -2.95468800e+01] [-3.71394208e-03 5.75095171e-05 9.99993102e-01 -5.98160790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.31, Y:-29.55, Z:-5.98 [[ 9.95090823e-01 9.88473468e-02 4.84322987e-03 2.48306004e+02] [-9.88458488e-02 9.95102607e-01 -5.48277644e-04 -2.95539876e+01] [-4.87370645e-03 6.68528847e-05 9.99988121e-01 -5.98218936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-29.56, Z:-5.98 [[ 9.94910489e-01 1.00594996e-01 5.81077070e-03 2.48337213e+02] [-1.00592857e-01 9.94927455e-01 -6.60035825e-04 -2.95588137e+01] [-5.84769161e-03 7.21545403e-05 9.99982900e-01 -5.98289577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:-29.56, Z:-5.98 [[ 9.94668001e-01 1.02943627e-01 6.17876696e-03 2.48368654e+02] [-1.02941244e-01 9.94687190e-01 -7.03233986e-04 -2.95636838e+01] [-6.21833381e-03 6.34343844e-05 9.99980664e-01 -5.98356802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.40, Y:-29.57, Z:-5.98 [[ 9.94087327e-01 1.08397481e-01 6.35394526e-03 2.48401152e+02] [-1.08395066e-01 9.94107633e-01 -7.24212906e-04 -2.95693647e+01] [-6.39500834e-03 3.11945569e-05 9.99979551e-01 -5.98427317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.43, Y:-29.57, Z:-5.99 [[ 9.93680828e-01 1.12013136e-01 7.17417223e-03 2.48432964e+02] [-1.12010136e-01 9.93706726e-01 -8.19848387e-04 -2.95743046e+01] [-7.22085699e-03 1.10876187e-05 9.99973929e-01 -5.98506150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:-29.58, Z:-5.99 [[ 9.92902786e-01 1.18664059e-01 7.93083063e-03 2.48465756e+02] [-1.18660593e-01 9.92934459e-01 -9.07866738e-04 -2.95777948e+01] [-7.98252617e-03 -3.96536478e-05 9.99968138e-01 -5.98530861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:-29.58, Z:-5.99 [[ 9.92517481e-01 1.21858439e-01 7.71817379e-03 2.48498153e+02] [-1.21855233e-01 9.92547489e-01 -8.86099948e-04 -2.95792934e+01] [-7.76863276e-03 -6.10301734e-05 9.99969822e-01 -5.98670292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81420382200002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:-29.58, Z:-5.99 [[ 9.92199007e-01 1.24458853e-01 7.15020205e-03 2.48531174e+02] [-1.24456172e-01 9.92224767e-01 -8.20451849e-04 -2.95801598e+01] [-7.19672006e-03 -7.58352649e-05 9.99974100e-01 -5.98798888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:-29.58, Z:-5.99 [[ 9.91777483e-01 1.27823394e-01 6.21319888e-03 2.48562841e+02] [-1.27821430e-01 9.91796941e-01 -7.13791888e-04 -2.95811840e+01] [-6.25347095e-03 -8.62572434e-05 9.99980443e-01 -5.99078129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.60, Y:-29.58, Z:-5.99 [[ 9.91887986e-01 1.27049309e-01 4.08616597e-03 2.48595404e+02] [-1.27048457e-01 9.91896401e-01 -4.68520770e-04 -2.95844233e+01] [-4.11257856e-03 -5.44209593e-05 9.99991542e-01 -5.99222642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:-29.59, Z:-5.99 [[ 9.92065025e-01 1.25585204e-01 5.94500117e-03 2.48626302e+02] [-1.25614509e-01 9.92067312e-01 4.84187313e-03 -2.95897839e+01] [-5.28977371e-03 -5.55023138e-03 9.99970606e-01 -5.99404733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:-29.59, Z:-6.00 [[ 9.92752342e-01 1.20097467e-01 4.40296034e-03 2.48659887e+02] [-1.20070222e-01 9.92747246e-01 -6.00402708e-03 -2.95858717e+01] [-5.09209519e-03 5.43184753e-03 9.99972282e-01 -5.99540841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:-29.59, Z:-6.00 [[ 9.93148413e-01 1.16762958e-01 4.75821809e-03 2.48691342e+02] [-1.16761666e-01 9.93159812e-01 -5.49276707e-04 -2.95934643e+01] [-4.78980616e-03 -1.00641820e-05 9.99988529e-01 -5.99567552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:-29.60, Z:-6.00 [[ 9.93138669e-01 1.16845825e-01 4.75791262e-03 2.48724593e+02] [-1.16844522e-01 9.93150066e-01 -5.51903432e-04 -2.95974740e+01] [-4.78980885e-03 -7.81938567e-06 9.99988529e-01 -5.99644578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.76, Y:-29.60, Z:-6.00 [[ 9.93499664e-01 1.13755995e-01 4.24164737e-03 2.48756180e+02] [-1.13754938e-01 9.93508718e-01 -4.90396988e-04 -2.96016076e+01] [-4.26989924e-03 4.70090835e-06 9.99990884e-01 -5.99798904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05420382200003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:248.79, Y:-29.61, Z:-6.00 [[ 9.94200222e-01 1.07481307e-01 3.69972741e-03 2.48788559e+02] [-1.07480460e-01 9.94207105e-01 -4.27613351e-04 -2.96078205e+01] [-3.72425572e-03 2.74848842e-05 9.99993065e-01 -5.99958436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.82, Y:-29.61, Z:-6.00 [[ 9.94526829e-01 1.04401191e-01 4.09607957e-03 2.48820178e+02] [-1.04400121e-01 9.94535263e-01 -4.74939294e-04 -2.96137812e+01] [-4.12327980e-03 4.47086681e-05 9.99991498e-01 -5.99954532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11420382200004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:248.85, Y:-29.62, Z:-6.00 [[ 9.94912234e-01 1.00717305e-01 2.38155537e-03 2.48852162e+02] [-1.00716936e-01 9.94915083e-01 -2.74659042e-04 -2.96217474e+01] [-2.39710828e-03 3.33986798e-05 9.99997126e-01 -6.00151973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:-29.63, Z:-6.00 [[ 9.95020411e-01 9.96110179e-02 3.46787255e-03 2.48885057e+02] [-9.96102199e-02 9.95026453e-01 -4.02507557e-04 -2.96276690e+01] [-3.49071911e-03 5.50676876e-05 9.99993906e-01 -6.00072262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:-29.63, Z:-6.00 [[ 9.94897660e-01 1.00822288e-01 3.67583598e-03 2.48917933e+02] [-1.00821396e-01 9.94904449e-01 -4.27596928e-04 -2.96325777e+01] [-3.70021687e-03 5.48122670e-05 9.99993153e-01 -6.00165538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:-29.64, Z:-6.00 [[ 9.94734464e-01 1.02421688e-01 3.62544506e-03 2.48950471e+02] [-1.02420829e-01 9.94741070e-01 -4.22317067e-04 -2.96379035e+01] [-3.64963352e-03 4.87722538e-05 9.99993339e-01 -6.00250078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:-29.64, Z:-6.00 [[ 9.94493158e-01 1.04724479e-01 4.01762230e-03 2.48982014e+02] [-1.04723432e-01 9.94501273e-01 -4.70684680e-04 -2.96438777e+01] [-4.04482270e-03 4.73534998e-05 9.99991819e-01 -6.00311839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382200007 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:249.01, Y:-29.65, Z:-6.00 [[ 9.94003270e-01 1.09329065e-01 2.15752806e-03 2.49014158e+02] [-1.09328774e-01 9.94005611e-01 -2.52473721e-04 -2.96517445e+01] [-2.17219772e-03 1.50798059e-05 9.99997641e-01 -6.00497480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:-29.66, Z:-6.00 [[ 9.93797789e-01 1.11170959e-01 2.64066140e-03 2.49046081e+02] [-1.11170534e-01 9.93801297e-01 -3.07680039e-04 -2.96577922e+01] [-2.65849781e-03 1.22080034e-05 9.99996466e-01 -6.00456735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:-29.66, Z:-6.01 [[ 9.93276076e-01 1.15768368e-01 5.66675362e-04 2.49077387e+02] [-1.15768351e-01 9.93276238e-01 -6.28404612e-05 -2.96641525e+01] [-5.70140110e-04 -3.18514543e-06 9.99999837e-01 -6.00675757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:-29.67, Z:-6.01 [[ 9.92968086e-01 1.18379222e-01 8.60087186e-04 2.49110054e+02] [-1.18379182e-01 9.92968459e-01 -9.74871719e-05 -2.96674676e+01] [-8.65579903e-04 -5.01476689e-06 9.99999625e-01 -6.00753361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:-29.67, Z:-6.01 [[ 9.92409701e-01 1.22936516e-01 3.09797934e-03 2.49142755e+02] [-1.22935981e-01 9.92414537e-01 -3.63294285e-04 -2.96685566e+01] [-3.11914187e-03 -2.03163557e-05 9.99995135e-01 -6.00754834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:-29.67, Z:-6.01 [[ 9.92130218e-01 1.25170008e-01 3.17786935e-03 2.49175265e+02] [-1.25169454e-01 9.92135307e-01 -3.73361433e-04 -2.96723512e+01] [-3.19961004e-03 -2.73490135e-05 9.99994881e-01 -6.00820836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:-29.68, Z:-6.01 [[ 9.91753041e-01 1.28139287e-01 2.49591830e-03 2.49206975e+02] [-1.28138955e-01 9.91756181e-01 -2.93041018e-04 -2.96791153e+01] [-2.51289246e-03 -2.92000411e-05 9.99996842e-01 -6.00883373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:-29.68, Z:-6.01 [[ 9.91589398e-01 1.29396670e-01 2.63947568e-03 2.49239265e+02] [-1.29396302e-01 9.91592911e-01 -3.10490306e-04 -2.96841177e+01] [-2.65746178e-03 -3.36594952e-05 9.99996468e-01 -6.00967578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:-29.68, Z:-6.01 [[ 9.91404572e-01 1.30809666e-01 2.40959277e-03 2.49272151e+02] [-1.30809364e-01 9.91407499e-01 -2.83535412e-04 -2.96847077e+01] [-2.42597752e-03 -3.40989933e-05 9.99997057e-01 -6.01140583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:-29.69, Z:-6.01 [[ 9.91418444e-01 1.30706840e-01 2.27838031e-03 2.49305646e+02] [-1.30706569e-01 9.91421061e-01 -2.68129270e-04 -2.96865524e+01] [-2.29388055e-03 -3.19709693e-05 9.99997369e-01 -6.01143082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.34, Y:-29.69, Z:-6.01 [[ 9.91668822e-01 1.28785159e-01 2.70734537e-03 2.49337683e+02] [-1.28784761e-01 9.91672518e-01 -3.21493430e-04 -2.96880870e+01] [-2.72620358e-03 -2.98498143e-05 9.99996283e-01 -6.01199110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.37, Y:-29.69, Z:-6.01 [[ 9.91829088e-01 1.27554410e-01 2.22112807e-03 2.49370423e+02] [-1.27554142e-01 9.91831574e-01 -2.62122153e-04 -2.96912446e+01] [-2.23641979e-03 -2.33337097e-05 9.99997499e-01 -6.01278397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.40, Y:-29.69, Z:-6.01 [[ 9.92132822e-01 1.25175300e-01 1.89939868e-03 2.49403729e+02] [-1.25175101e-01 9.92134640e-01 -2.23825252e-04 -2.96939249e+01] [-1.91247662e-03 -1.56930431e-05 9.99998171e-01 -6.01434421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.44, Y:-29.70, Z:-6.02 [[ 9.92241988e-01 1.24312222e-01 1.51964309e-03 2.49436515e+02] [-1.24312094e-01 9.92243151e-01 -1.78478426e-04 -2.96981519e+01] [-1.53004250e-03 -1.18162271e-05 9.99998829e-01 -6.01571679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.47, Y:-29.70, Z:-6.01 [[ 9.92515590e-01 1.22054953e-01 3.92325582e-03 2.49468831e+02] [-1.22054054e-01 9.92523344e-01 -4.68542983e-04 -2.97021686e+01] [-3.95111097e-03 -1.38130639e-05 9.99992194e-01 -6.01443910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:-29.70, Z:-6.02 [[ 9.92534764e-01 1.21864631e-01 4.87376079e-03 2.49500653e+02] [-1.21863231e-01 9.92546730e-01 -5.84305374e-04 -2.97045494e+01] [-4.90864150e-03 -1.39888404e-05 9.99987952e-01 -6.01501091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:-29.71, Z:-6.02 [[ 9.92566182e-01 1.21607682e-01 4.89341310e-03 2.49533933e+02] [-1.21606264e-01 9.92578245e-01 -5.87377634e-04 -2.97057915e+01] [-4.92852502e-03 -1.20585112e-05 9.99987855e-01 -6.01638812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:-29.71, Z:-6.02 [[ 9.92585075e-01 1.21460163e-01 4.72203072e-03 2.49565734e+02] [-1.21458836e-01 9.92596307e-01 -5.67781612e-04 -2.97102801e+01] [-4.75603311e-03 -9.96080107e-06 9.99988690e-01 -6.01760288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.60, Y:-29.72, Z:-6.02 [[ 9.92688723e-01 1.20587710e-01 5.26346873e-03 2.49597707e+02] [-1.20586042e-01 9.92702677e-01 -6.34346779e-04 -2.97161465e+01] [-5.30155392e-03 -4.99196668e-06 9.99985947e-01 -6.01780994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.63, Y:-29.72, Z:-6.02 [[ 9.92727216e-01 1.20245618e-01 5.80223567e-03 2.49630453e+02] [-1.20243577e-01 9.92744172e-01 -7.00545343e-04 -2.97199559e+01] [-5.84437316e-03 -2.23114344e-06 9.99982922e-01 -6.01903179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:-29.72, Z:-6.02 [[ 9.92870787e-01 1.19115675e-01 4.36524641e-03 2.49662919e+02] [-1.19114511e-01 9.92880383e-01 -5.26606340e-04 -2.97240419e+01] [-4.39689460e-03 2.88785875e-06 9.99990334e-01 -6.02058100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.70, Y:-29.73, Z:-6.02 [[ 9.92933140e-01 1.18624809e-01 3.45455947e-03 2.49695736e+02] [-1.18624078e-01 9.92939150e-01 -4.16482241e-04 -2.97287792e+01] [-3.47957246e-03 3.74508972e-06 9.99993946e-01 -6.02165190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:-29.73, Z:-6.02 [[ 9.93084784e-01 1.17331964e-01 3.97771602e-03 2.49727064e+02] [-1.17330973e-01 9.93092750e-01 -4.82439604e-04 -2.97348711e+01] [-4.00684653e-03 1.23941400e-05 9.99991972e-01 -6.02321345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:-29.74, Z:-6.02 [[ 9.93133636e-01 1.16922104e-01 3.84734709e-03 2.49759910e+02] [-1.16921177e-01 9.93141088e-01 -4.65564830e-04 -2.97412104e+01] [-3.87539330e-03 1.25317411e-05 9.99992491e-01 -6.02391384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98420382200004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:249.79, Y:-29.75, Z:-6.03 [[ 9.93104279e-01 1.17216211e-01 2.06201810e-03 2.49791645e+02] [-1.17215948e-01 9.93106419e-01 -2.48107684e-04 -2.97467475e+01] [-2.07688566e-03 4.69539480e-06 9.99997843e-01 -6.02582252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:-29.75, Z:-6.03 [[ 9.93048297e-01 1.17659100e-01 3.37875100e-03 2.49823497e+02] [-1.17658385e-01 9.93054045e-01 -4.10404321e-04 -2.97497280e+01] [-3.40357015e-03 1.00129250e-05 9.99994208e-01 -6.02573405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.86, Y:-29.75, Z:-6.03 [[ 9.92971828e-01 1.18281264e-01 4.06086771e-03 2.49856695e+02] [-1.18280234e-01 9.92980132e-01 -4.93823050e-04 -2.97533592e+01] [-4.09077097e-03 1.00319950e-05 9.99991633e-01 -6.02788372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.89, Y:-29.76, Z:-6.03 [[ 9.92946654e-01 1.18492380e-01 4.06170767e-03 2.49887883e+02] [-1.18491347e-01 9.92954962e-01 -4.95004869e-04 -2.97588387e+01] [-4.09174708e-03 1.02362179e-05 9.99991629e-01 -6.02953340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:249.92, Y:-29.77, Z:-6.03 [[ 9.92976460e-01 1.18275419e-01 2.94543287e-03 2.49920325e+02] [-1.18274877e-01 9.92980828e-01 -3.58150513e-04 -2.97650315e+01] [-2.96711877e-03 7.26431714e-06 9.99995598e-01 -6.03202055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.95, Y:-29.77, Z:-6.03 [[ 9.93000179e-01 1.18067582e-01 3.26975247e-03 2.49952517e+02] [-1.18066910e-01 9.93005562e-01 -3.98659980e-04 -2.97701548e+01] [-3.29395121e-03 9.81986228e-06 9.99994575e-01 -6.03201401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:-29.77, Z:-6.03 [[ 9.92986933e-01 1.18199352e-01 2.42179373e-03 2.49984266e+02] [-1.18198984e-01 9.92989886e-01 -2.94834889e-04 -2.97747249e+01] [-2.43966597e-03 6.51363352e-06 9.99997024e-01 -6.03313532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.02, Y:-29.78, Z:-6.03 [[ 9.92878794e-01 1.19110494e-01 2.09524793e-03 2.50016722e+02] [-1.19110222e-01 9.92881005e-01 -2.54599139e-04 -2.97794779e+01] [-2.11065730e-03 3.22063921e-06 9.99997773e-01 -6.03432314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.05, Y:-29.78, Z:-6.03 [[ 9.92695941e-01 1.20627851e-01 1.92122702e-03 2.50048736e+02] [-1.20627624e-01 9.92697800e-01 -2.33755551e-04 -2.97836262e+01] [-1.93539526e-03 2.95136165e-07 9.99998127e-01 -6.03479647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.08, Y:-29.79, Z:-6.04 [[ 9.92257986e-01 1.24171511e-01 2.35053782e-03 2.50081982e+02] [-1.24171180e-01 9.92260770e-01 -2.87181235e-04 -2.97860777e+01] [-2.36800620e-03 -6.91117944e-06 9.99997196e-01 -6.03503177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28420382200005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:250.11, Y:-29.79, Z:-6.04 [[ 9.91968775e-01 1.26472012e-01 1.66735416e-03 2.50113537e+02] [-1.26471849e-01 9.91970176e-01 -2.03012721e-04 -2.97880305e+01] [-1.67964102e-03 -9.49108347e-06 9.99998589e-01 -6.03823583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.15, Y:-29.79, Z:-6.04 [[ 9.91633323e-01 1.28991017e-01 4.96685898e-03 2.50145893e+02] [-1.28989554e-01 9.91645762e-01 -6.15186010e-04 -2.97891367e+01] [-5.00471812e-03 -3.06339769e-05 9.99987476e-01 -6.03765175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34420382200005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.18, Y:-29.79, Z:-6.04 [[ 9.91453851e-01 1.30374324e-01 4.66875571e-03 2.50177710e+02] [-1.30373049e-01 9.91464843e-01 -5.77686912e-04 -2.97917294e+01] [-4.70422269e-03 -3.59300023e-05 9.99988934e-01 -6.03953171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.21, Y:-29.80, Z:-6.04 [[ 9.91411279e-01 1.30596632e-01 6.94231110e-03 2.50210698e+02] [-1.30593798e-01 9.91435584e-01 -8.61875236e-04 -2.97955151e+01] [-6.99541226e-03 -5.21499464e-05 9.99975530e-01 -6.03901451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.24, Y:-29.80, Z:-6.04 [[ 9.91404617e-01 1.30649781e-01 6.89354978e-03 2.50242308e+02] [-1.30646978e-01 9.91428581e-01 -8.57372083e-04 -2.97988159e+01] [-6.94647775e-03 -5.06188034e-05 9.99975872e-01 -6.03884284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:-29.80, Z:-6.04 [[ 9.91429173e-01 1.30483177e-01 6.50656838e-03 2.50275083e+02] [-1.30480671e-01 9.91450522e-01 -8.10018028e-04 -2.98000005e+01] [-6.55663435e-03 -4.59059018e-05 9.99978504e-01 -6.04126644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:-29.80, Z:-6.04 [[ 9.91399205e-01 1.30752425e-01 5.60535450e-03 2.50308088e+02] [-1.30750567e-01 9.91415050e-01 -6.98218273e-04 -2.98027251e+01] [-5.64852655e-03 -4.06902366e-05 9.99984046e-01 -6.04258523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.34, Y:-29.81, Z:-6.05 [[ 9.91358412e-01 1.31117660e-01 4.08148807e-03 2.50340993e+02] [-1.31116680e-01 9.91366813e-01 -5.07995933e-04 -2.98065831e+01] [-4.11285906e-03 -3.15451224e-05 9.99991542e-01 -6.04560482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.37, Y:-29.81, Z:-6.05 [[ 9.91412749e-01 1.30623092e-01 6.19428508e-03 2.50373148e+02] [-1.30620794e-01 9.91432099e-01 -7.75761413e-04 -2.98093382e+01] [-6.24254541e-03 -4.00026807e-05 9.99980514e-01 -6.04501522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:-29.81, Z:-6.05 [[ 9.91404262e-01 1.30677048e-01 6.41080458e-03 2.50405653e+02] [-1.30674590e-01 9.91424988e-01 -8.02571510e-04 -2.98118976e+01] [-6.46070953e-03 -4.20564450e-05 9.99979129e-01 -6.04532568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:-29.81, Z:-6.05 [[ 9.91383601e-01 1.30886879e-01 5.21355332e-03 2.50437802e+02] [-1.30885255e-01 9.91397309e-01 -6.53098991e-04 -2.98147937e+01] [-5.25418482e-03 -3.49056247e-05 9.99986196e-01 -6.04665080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:-29.82, Z:-6.05 [[ 9.91256398e-01 1.31847648e-01 5.19136900e-03 2.50469943e+02] [-1.31846045e-01 9.91269992e-01 -6.51272718e-04 -2.98185199e+01] [-5.23191709e-03 -3.88832244e-05 9.99986313e-01 -6.04798976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.50, Y:-29.82, Z:-6.05 [[ 9.91114397e-01 1.32881482e-01 5.89612170e-03 2.50500869e+02] [-1.32879421e-01 9.91131933e-01 -7.41781018e-04 -2.98207169e+01] [-5.94240346e-03 -4.82833887e-05 9.99982343e-01 -6.04873215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.53, Y:-29.82, Z:-6.05 [[ 9.90778822e-01 1.35390715e-01 5.16520688e-03 2.50533480e+02] [-1.35389166e-01 9.90792285e-01 -6.49988114e-04 -2.98205536e+01] [-5.20564948e-03 -5.53185925e-05 9.99986449e-01 -6.05058806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.56, Y:-29.82, Z:-6.05 [[ 9.90752603e-01 1.35593025e-01 4.87962436e-03 2.50564536e+02] [-1.35591629e-01 9.90764618e-01 -6.17211223e-04 -2.98229931e+01] [-4.91824871e-03 -5.01325905e-05 9.99987904e-01 -6.05012058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:-29.82, Z:-6.05 [[ 9.90670201e-01 1.36175908e-01 5.35494271e-03 2.50594789e+02] [-1.36174238e-01 9.90684672e-01 -6.76965096e-04 -2.98226981e+01] [-5.39724600e-03 -5.85560939e-05 9.99985433e-01 -6.05058135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.63, Y:-29.83, Z:-6.05 [[ 9.90750548e-01 1.35586077e-01 5.45590727e-03 2.50625796e+02] [-1.35584330e-01 9.90765569e-01 -6.90601835e-04 -2.98253120e+01] [-5.49916107e-03 -5.55213840e-05 9.99984878e-01 -6.05150517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:-29.83, Z:-6.05 [[ 9.91129194e-01 1.32813634e-01 4.84346191e-03 2.50657356e+02] [-1.32812236e-01 9.91141028e-01 -6.10588767e-04 -2.98311371e+01] [-4.88164833e-03 -3.80986548e-05 9.99988084e-01 -6.05327764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.69, Y:-29.84, Z:-6.05 [[ 9.91324893e-01 1.31353494e-01 4.60608998e-03 2.50689406e+02] [-1.31352212e-01 9.91335593e-01 -5.81035596e-04 -2.98351999e+01] [-4.64250200e-03 -2.90250591e-05 9.99989223e-01 -6.05397470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:-29.83, Z:-6.06 [[ 9.91675348e-01 1.28690381e-01 4.33479286e-03 2.50720367e+02] [-1.28689212e-01 9.91684822e-01 -5.48793679e-04 -2.98348227e+01] [-4.36937276e-03 -1.36159149e-05 9.99990454e-01 -6.05617080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.75, Y:-29.84, Z:-6.06 [[ 9.91829141e-01 1.27517368e-01 3.77824082e-03 2.50751519e+02] [-1.27516465e-01 9.91836338e-01 -4.79822187e-04 -2.98368512e+01] [-3.80858220e-03 -5.88628549e-06 9.99992747e-01 -6.05685865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:-29.84, Z:-6.06 [[ 9.92149752e-01 1.25018788e-01 3.02870602e-03 2.50781444e+02] [-1.25018195e-01 9.92154374e-01 -3.84837847e-04 -2.98409038e+01] [-3.05305588e-03 3.17341311e-06 9.99995339e-01 -6.05786249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.81, Y:-29.84, Z:-6.06 [[ 9.92148323e-01 1.25030125e-01 3.02870028e-03 2.50812187e+02] [-1.25029532e-01 9.92152946e-01 -3.84882996e-04 -2.98448199e+01] [-3.05305587e-03 3.18403929e-06 9.99995339e-01 -6.05857498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.84, Y:-29.85, Z:-6.06 [[ 9.92264725e-01 1.24101328e-01 3.09449761e-03 2.50843044e+02] [-1.24100706e-01 9.92269550e-01 -3.93025571e-04 -2.98487318e+01] [-3.11935075e-03 5.95607292e-06 9.99995135e-01 -6.05907821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.87, Y:-29.85, Z:-6.06 [[ 9.92270981e-01 1.24056677e-01 2.87057881e-03 2.50873036e+02] [-1.24056144e-01 9.92275134e-01 -3.63868451e-04 -2.98508083e+01] [-2.89354428e-03 4.94316702e-06 9.99995814e-01 -6.06281593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:-29.85, Z:-6.06 [[ 9.92267790e-01 1.24069040e-01 3.39219458e-03 2.50902649e+02] [-1.24068290e-01 9.92273588e-01 -4.31430494e-04 -2.98549886e+01] [-3.41951225e-03 7.23080243e-06 9.99994153e-01 -6.06082872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.93, Y:-29.87, Z:-6.05 [[ 9.92267368e-01 1.24081754e-01 3.03134483e-03 2.50930873e+02] [-1.24114541e-01 9.92139304e-01 1.59744247e-02 -2.98684578e+01] [-1.02538172e-03 -1.62271343e-02 9.99867806e-01 -6.05228821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.96, Y:-29.85, Z:-6.06 [[ 9.92101154e-01 1.25404750e-01 2.99141336e-03 2.50964047e+02] [-1.25337866e-01 9.91972241e-01 -1.67777164e-02 -2.98525016e+01] [-5.07140435e-03 1.62702545e-02 9.99854769e-01 -6.06327422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:-29.87, Z:-6.06 [[ 9.92030169e-01 1.25943989e-01 3.77562096e-03 2.50994433e+02] [-1.25943073e-01 9.92037354e-01 -4.80365121e-04 -2.98659538e+01] [-3.80605613e-03 1.02338677e-06 9.99992757e-01 -6.06329606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.03, Y:-29.87, Z:-6.06 [[ 9.91945240e-01 1.26617481e-01 3.55729854e-03 2.51025223e+02] [-1.26616671e-01 9.91951619e-01 -4.52637313e-04 -2.98705995e+01] [-3.58597985e-03 -1.42187246e-06 9.99993570e-01 -6.06445328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.06, Y:-29.87, Z:-6.07 [[ 9.91876437e-01 1.27153082e-01 3.63702342e-03 2.51055193e+02] [-1.27152242e-01 9.91883105e-01 -4.62167190e-04 -2.98742539e+01] [-3.66626807e-03 -4.04293543e-06 9.99993279e-01 -6.06554014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.09, Y:-29.88, Z:-6.07 [[ 9.91729555e-01 1.28292659e-01 3.67208928e-03 2.51085357e+02] [-1.28291806e-01 9.91736353e-01 -4.68061238e-04 -2.98764509e+01] [-3.70179325e-03 -6.90880182e-06 9.99993148e-01 -6.06782261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.12, Y:-29.88, Z:-6.07 [[ 9.91720988e-01 1.28359138e-01 3.66240318e-03 2.51116331e+02] [-1.28358291e-01 9.91727751e-01 -4.66352852e-04 -2.98810334e+01] [-3.69196752e-03 -7.60790199e-06 9.99993185e-01 -6.06915548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.15, Y:-29.89, Z:-6.07 [[ 9.91739296e-01 1.28189423e-01 4.54311198e-03 2.51146409e+02] [-1.28188120e-01 9.91749702e-01 -5.78150280e-04 -2.98851450e+01] [-4.57974271e-03 -8.99863220e-06 9.99989513e-01 -6.06856952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:-29.89, Z:-6.07 [[ 9.91723059e-01 1.28320659e-01 4.37978263e-03 2.51177586e+02] [-1.28319445e-01 9.91732730e-01 -5.58164144e-04 -2.98889893e+01] [-4.41519777e-03 -8.46702579e-06 9.99990253e-01 -6.06952683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33420382200006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:251.21, Y:-29.89, Z:-6.07 [[ 9.91582548e-01 1.29419421e-01 3.82923249e-03 2.51207302e+02] [-1.29418501e-01 9.91589942e-01 -4.88264781e-04 -2.98937395e+01] [-3.86021937e-03 -1.14186920e-05 9.99992549e-01 -6.07227872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.24, Y:-29.90, Z:-6.07 [[ 9.91491661e-01 1.30060498e-01 5.34345105e-03 2.51238084e+02] [-1.30058715e-01 9.91506060e-01 -6.81308085e-04 -2.98985185e+01] [-5.38667537e-03 -1.94510945e-05 9.99985492e-01 -6.07050643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:-29.90, Z:-6.07 [[ 9.91023416e-01 1.33518048e-01 6.74690686e-03 2.51268371e+02] [-1.33515287e-01 9.91046381e-01 -8.59967597e-04 -2.99023483e+01] [-6.80131882e-03 -4.85671803e-05 9.99976870e-01 -6.07059099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.30, Y:-29.91, Z:-6.07 [[ 9.90718006e-01 1.35792558e-01 6.18164575e-03 2.51298191e+02] [-1.35790278e-01 9.90737290e-01 -7.89015151e-04 -2.99056396e+01] [-6.23152934e-03 -5.77158783e-05 9.99980582e-01 -6.07116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:-29.91, Z:-6.07 [[ 9.90116108e-01 1.40184475e-01 4.29028380e-03 2.51327973e+02] [-1.40183417e-01 9.90125401e-01 -5.47794721e-04 -2.99093292e+01] [-4.32471128e-03 -5.90462636e-05 9.99990647e-01 -6.07234010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:-29.91, Z:-6.07 [[ 9.89928527e-01 1.41499957e-01 4.39019183e-03 2.51357928e+02] [-1.41498863e-01 9.89938260e-01 -5.60551243e-04 -2.99128145e+01] [-4.42533684e-03 -6.63014857e-05 9.99990206e-01 -6.07346424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:-29.91, Z:-6.08 [[ 9.89596448e-01 1.43748076e-01 5.94655984e-03 2.51387449e+02] [-1.43746107e-01 9.89614309e-01 -7.59480805e-04 -2.99141657e+01] [-5.99397461e-03 -1.03215318e-04 9.99982031e-01 -6.07502458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.42, Y:-29.92, Z:-6.08 [[ 9.89500476e-01 1.44412667e-01 5.81288855e-03 2.51416657e+02] [-1.44410797e-01 9.89517544e-01 -7.42340457e-04 -2.99161408e+01] [-5.85915857e-03 -1.04897631e-04 9.99982829e-01 -6.07624750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.45, Y:-29.92, Z:-6.08 [[ 9.89478528e-01 1.44582169e-01 5.31396892e-03 2.51446907e+02] [-1.44580610e-01 9.89492793e-01 -6.78371220e-04 -2.99182136e+01] [-5.35621433e-03 -9.70631107e-05 9.99985651e-01 -6.07719684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:-29.92, Z:-6.08 [[ 9.89576838e-01 1.43903028e-01 5.44066021e-03 2.51477799e+02] [-1.43901384e-01 9.89591789e-01 -6.94544390e-04 -2.99201635e+01] [-5.48397971e-03 -9.56134937e-05 9.99984958e-01 -6.07803315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.51, Y:-29.92, Z:-6.08 [[ 9.89708247e-01 1.43034200e-01 4.33619614e-03 2.51508022e+02] [-1.43033147e-01 9.89717744e-01 -5.53550597e-04 -2.99233392e+01] [-4.37078693e-03 -7.23661911e-05 9.99990445e-01 -6.07815014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.54, Y:-29.92, Z:-6.08 [[ 9.90023689e-01 1.40868488e-01 3.02730497e-03 2.51537878e+02] [-1.40867965e-01 9.90028316e-01 -3.86223454e-04 -2.99248458e+01] [-3.05152436e-03 -4.40799236e-05 9.99995343e-01 -6.07890684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.57, Y:-29.93, Z:-6.08 [[ 9.90240520e-01 1.39323432e-01 3.56275235e-03 2.51567706e+02] [-1.39322695e-01 9.90246928e-01 -4.55319949e-04 -2.99265691e+01] [-3.59144131e-03 -4.54959972e-05 9.99993550e-01 -6.07974676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.60, Y:-29.93, Z:-6.08 [[ 9.90489585e-01 1.37525405e-01 4.14077029e-03 2.51596280e+02] [-1.37524394e-01 9.90498239e-01 -5.29224123e-04 -2.99286060e+01] [-4.17420744e-03 -4.52659426e-05 9.99991287e-01 -6.08033483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.63, Y:-29.93, Z:-6.08 [[ 9.91077228e-01 1.33237298e-01 3.70821988e-03 2.51625876e+02] [-1.33236459e-01 9.91084165e-01 -4.73433819e-04 -2.99304419e+01] [-3.73823705e-03 -2.48606087e-05 9.99993012e-01 -6.08086557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:-29.93, Z:-6.08 [[ 9.91413446e-01 1.30682263e-01 4.63956694e-03 2.51655342e+02] [-1.30680921e-01 9.91424302e-01 -5.92433630e-04 -2.99328743e+01] [-4.67719998e-03 -1.89562140e-05 9.99989062e-01 -6.08203793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:-29.93, Z:-6.08 [[ 9.92084584e-01 1.25394998e-01 6.65382818e-03 2.51684842e+02] [-1.25392123e-01 9.92106897e-01 -8.49049414e-04 -2.99340944e+01] [-6.70777538e-03 7.99118979e-06 9.99977503e-01 -6.08285373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:-29.94, Z:-6.08 [[ 9.92439340e-01 1.22562261e-01 6.53059579e-03 2.51714698e+02] [-1.22559432e-01 9.92460826e-01 -8.33059535e-04 -2.99387218e+01] [-6.58346216e-03 2.63749424e-05 9.99978328e-01 -6.08355106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.75, Y:-29.95, Z:-6.08 [[ 9.93044262e-01 1.17592329e-01 5.92777118e-03 2.51746367e+02] [-1.17589928e-01 9.93061952e-01 -7.53228580e-04 -2.99450084e+01] [-5.97521793e-03 5.09431318e-05 9.99982147e-01 -6.08403973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.78, Y:-29.95, Z:-6.08 [[ 9.93276752e-01 1.15660083e-01 4.90293781e-03 2.51776458e+02] [-1.15658402e-01 9.93288851e-01 -6.26061573e-04 -2.99482359e+01] [-4.94244380e-03 5.47864537e-05 9.99987785e-01 -6.08482218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.81, Y:-29.95, Z:-6.09 [[ 9.93435286e-01 1.14346890e-01 3.33478847e-03 2.51807674e+02] [-1.14346106e-01 9.93440882e-01 -4.25524056e-04 -2.99527878e+01] [-3.36157255e-03 4.14105362e-05 9.99994349e-01 -6.08893581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.84, Y:-29.96, Z:-6.09 [[ 9.93478618e-01 1.13991944e-01 2.46414708e-03 2.51838256e+02] [-1.13991515e-01 9.93481674e-01 -3.14343956e-04 -2.99603988e+01] [-2.48391764e-03 3.14021413e-05 9.99996915e-01 -6.08790864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.87, Y:-29.97, Z:-6.09 [[ 9.93395368e-01 1.14694897e-01 3.27469904e-03 2.51867877e+02] [-1.14694142e-01 9.93400765e-01 -4.18258376e-04 -2.99656314e+01] [-3.30106063e-03 3.99071370e-05 9.99994551e-01 -6.08814862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.90, Y:-29.97, Z:-6.09 [[ 9.93183882e-01 1.16463317e-01 4.69806362e-03 2.51898486e+02] [-1.16461782e-01 9.93194993e-01 -6.00008502e-04 -2.99722457e+01] [-4.73597225e-03 4.87739145e-05 9.99988784e-01 -6.08746287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.93, Y:-29.98, Z:-6.09 [[ 9.93055966e-01 1.17537529e-01 4.97773940e-03 2.51928421e+02] [-1.17535817e-01 9.93068440e-01 -6.36111497e-04 -2.99765813e+01] [-5.01800288e-03 4.66316515e-05 9.99987409e-01 -6.08745957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.96, Y:-29.98, Z:-6.09 [[ 9.92881898e-01 1.18998339e-01 4.99326913e-03 2.51959556e+02] [-1.18996636e-01 9.92894452e-01 -6.37936848e-04 -2.99802353e+01] [-5.03370265e-03 3.92137209e-05 9.99987330e-01 -6.08862842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.99, Y:-29.99, Z:-6.09 [[ 9.92572881e-01 1.21603389e-01 3.41934602e-03 2.51989869e+02] [-1.21602606e-01 9.92578770e-01 -4.36754207e-04 -2.99857523e+01] [-3.44708106e-03 1.77089931e-05 9.99994059e-01 -6.09313670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.02, Y:-29.99, Z:-6.09 [[ 9.92436299e-01 1.22728977e-01 2.79134392e-03 2.52019297e+02] [-1.22728459e-01 9.92440224e-01 -3.56757823e-04 -2.99926890e+01] [-2.81402651e-03 1.14820772e-05 9.99996041e-01 -6.09150726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.05, Y:-30.00, Z:-6.09 [[ 9.92285703e-01 1.23956370e-01 1.97518268e-03 2.52050019e+02] [-1.23956114e-01 9.92287669e-01 -2.52126201e-04 -3.00008465e+01] [-1.99120207e-03 5.34525461e-06 9.99998018e-01 -6.09230931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.08, Y:-30.01, Z:-6.09 [[ 9.92187708e-01 1.24734164e-01 2.22275262e-03 2.52080128e+02] [-1.24733840e-01 9.92190198e-01 -2.84112852e-04 -3.00060051e+01] [-2.24083194e-03 4.64080909e-06 9.99997489e-01 -6.09315216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.11, Y:-30.01, Z:-6.09 [[ 9.91946505e-01 1.26622204e-01 2.99133156e-03 2.52111144e+02] [-1.26621627e-01 9.91951016e-01 -3.82238464e-04 -3.00143155e+01] [-3.01565426e-03 3.92838279e-07 9.99995453e-01 -6.09211698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.14, Y:-30.02, Z:-6.09 [[ 9.91804017e-01 1.27723768e-01 3.38086794e-03 2.52141533e+02] [-1.27723036e-01 9.91809780e-01 -4.32419898e-04 -3.00187190e+01] [-3.40840819e-03 -2.93892714e-06 9.99994191e-01 -6.09242572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.17, Y:-30.02, Z:-6.09 [[ 9.91631471e-01 1.29062109e-01 3.16197220e-03 2.52172787e+02] [-1.29061476e-01 9.91636512e-01 -4.04198170e-04 -3.00226156e+01] [-3.18769375e-03 -7.27317455e-06 9.99994919e-01 -6.09330289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.20, Y:-30.03, Z:-6.10 [[ 9.91213540e-01 1.32255623e-01 2.04151841e-03 2.52203206e+02] [-1.32255367e-01 9.91215643e-01 -2.60814799e-04 -3.00311360e+01] [-2.05807920e-03 -1.14786049e-05 9.99997882e-01 -6.09506476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.23, Y:-30.04, Z:-6.10 [[ 9.90987656e-01 1.33934409e-01 2.24492095e-03 2.52232739e+02] [-1.33934105e-01 9.90990199e-01 -2.86139553e-04 -3.00381698e+01] [-2.26301859e-03 -1.71107131e-05 9.99997439e-01 -6.09573986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:252.26, Y:-30.04, Z:-6.10 [[ 9.90491572e-01 1.37524624e-01 3.66383938e-03 2.52263743e+02] [-1.37523830e-01 9.90498347e-01 -4.68857860e-04 -3.00447657e+01] [-3.69350635e-03 -3.94654660e-05 9.99993178e-01 -6.09794914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.29, Y:-30.05, Z:-6.10 [[ 9.90207844e-01 1.39536309e-01 4.24774322e-03 2.52294181e+02] [-1.39535265e-01 9.90216954e-01 -5.42444046e-04 -3.00496661e+01] [-4.28187799e-03 -5.55776277e-05 9.99990831e-01 -6.09573587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.32, Y:-30.05, Z:-6.10 [[ 9.89612641e-01 1.43732968e-01 2.76673611e-03 2.52323748e+02] [-1.43732541e-01 9.89616507e-01 -3.53609109e-04 -3.00542748e+01] [-2.78883302e-03 -4.77339685e-05 9.99996110e-01 -6.09660288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:-30.06, Z:-6.10 [[ 9.89329588e-01 1.45674478e-01 2.43144782e-03 2.52353678e+02] [-1.45674151e-01 9.89332575e-01 -3.11900382e-04 -3.00577814e+01] [-2.45094646e-03 -4.56268210e-05 9.99996995e-01 -6.09666304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:-30.06, Z:-6.10 [[ 9.88899797e-01 1.48526376e-01 4.13603312e-03 2.52383256e+02] [-1.48525456e-01 9.88908442e-01 -5.30346253e-04 -3.00612632e+01] [-4.16892848e-03 -8.98469052e-05 9.99991306e-01 -6.09761848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.41, Y:-30.07, Z:-6.10 [[ 9.88824864e-01 1.49029392e-01 3.95320557e-03 2.52413590e+02] [-1.49028556e-01 9.88832763e-01 -5.06928329e-04 -3.00654521e+01] [-3.98460640e-03 -8.78771788e-05 9.99992058e-01 -6.09841121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:-30.07, Z:-6.10 [[ 9.88844110e-01 1.48903052e-01 3.89951352e-03 2.52445116e+02] [-1.48902239e-01 9.88851796e-01 -4.99861173e-04 -3.00680401e+01] [-3.93047180e-03 -8.63615153e-05 9.99992272e-01 -6.09887919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59420382200005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:252.48, Y:-30.07, Z:-6.10 [[ 9.88899815e-01 1.48506081e-01 4.80614598e-03 2.52475344e+02] [-1.48504836e-01 9.88911489e-01 -6.16747747e-04 -3.00700232e+01] [-4.84444377e-03 -1.03834189e-04 9.99988260e-01 -6.09951675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:-30.07, Z:-6.10 [[ 9.88959464e-01 1.48078542e-01 5.65016902e-03 2.52506123e+02] [-1.48076816e-01 9.88975597e-01 -7.25056840e-04 -3.00720755e+01] [-5.69524464e-03 -1.19607213e-04 9.99983775e-01 -6.09980325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:-30.07, Z:-6.10 [[ 9.89158251e-01 1.46722234e-01 6.20818925e-03 2.52537037e+02] [-1.46720124e-01 9.89177725e-01 -7.96469011e-04 -3.00729890e+01] [-6.25786223e-03 -1.23032400e-04 9.99980412e-01 -6.09954926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.57, Y:-30.07, Z:-6.10 [[ 9.89534032e-01 1.44172701e-01 6.05240653e-03 2.52568317e+02] [-1.44170648e-01 9.89552536e-01 -7.76353085e-04 -3.00743188e+01] [-6.10110315e-03 -1.04351574e-04 9.99981383e-01 -6.09994547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.60, Y:-30.08, Z:-6.10 [[ 9.89740333e-01 1.42743058e-01 6.20431775e-03 2.52599676e+02] [-1.42740872e-01 9.89759774e-01 -7.95996800e-04 -3.00767679e+01] [-6.25440715e-03 -9.77795861e-05 9.99980436e-01 -6.10001500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:-30.08, Z:-6.10 [[ 9.89969964e-01 1.41126487e-01 6.54104025e-03 2.52630568e+02] [-1.41124021e-01 9.89991569e-01 -8.39373542e-04 -3.00783992e+01] [-6.59403254e-03 -9.21433067e-05 9.99978255e-01 -6.10118569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.66, Y:-30.08, Z:-6.10 [[ 9.90515959e-01 1.37231073e-01 6.76517371e-03 2.52660980e+02] [-1.37228347e-01 9.90539059e-01 -8.67810845e-04 -3.00783625e+01] [-6.82025941e-03 -6.87931113e-05 9.99976739e-01 -6.10222467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.69, Y:-30.08, Z:-6.11 [[ 9.91168282e-01 1.32356657e-01 8.19458009e-03 2.52692265e+02] [-1.32352480e-01 9.91202156e-01 -1.05234709e-03 -3.00799835e+01] [-8.26177059e-03 -4.15199453e-05 9.99965870e-01 -6.10631660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83420382200006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:252.72, Y:-30.08, Z:-6.11 [[ 9.91163661e-01 1.32391262e-01 8.19457735e-03 2.52723825e+02] [-1.32387086e-01 9.91197534e-01 -1.05236850e-03 -3.00840910e+01] [-8.26176926e-03 -4.17868025e-05 9.99965870e-01 -6.10704948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:-30.09, Z:-6.10 [[ 9.91398250e-01 1.30633813e-01 8.01978460e-03 2.52754420e+02] [-1.30629767e-01 9.91430687e-01 -1.02844597e-03 -3.00887497e+01] [-8.08541037e-03 -2.80230648e-05 9.99967312e-01 -6.10484123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:-30.09, Z:-6.11 [[ 9.91644118e-01 1.28833813e-01 6.61759616e-03 2.52786531e+02] [-1.28831017e-01 9.91666198e-01 -8.48809110e-04 -3.00933298e+01] [-6.67180174e-03 -1.08350835e-05 9.99977743e-01 -6.10564895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:-30.10, Z:-6.11 [[ 9.91838013e-01 1.27407006e-01 4.98114477e-03 2.52817512e+02] [-1.27405398e-01 9.91850520e-01 -6.40121661e-04 -3.00972182e+01] [-5.02210702e-03 2.72264024e-07 9.99987389e-01 -6.10636679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:-30.10, Z:-6.11 [[ 9.91985998e-01 1.26266910e-01 4.52185625e-03 2.52848846e+02] [-1.26265566e-01 9.91996304e-01 -5.82563816e-04 -3.01000407e+01] [-4.55922322e-03 6.94040868e-06 9.99989607e-01 -6.10690798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.88, Y:-30.10, Z:-6.11 [[ 9.91869653e-01 1.27210948e-01 3.45907098e-03 2.52878557e+02] [-1.27210167e-01 9.91875685e-01 -4.45838758e-04 -3.01030898e+01] [-3.48768397e-03 2.18493805e-06 9.99993918e-01 -6.10924340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.91, Y:-30.11, Z:-6.11 [[ 9.91745896e-01 1.28187019e-01 2.85772858e-03 2.52909339e+02] [-1.28186489e-01 9.91750013e-01 -3.68566894e-04 -3.01067528e+01] [-2.88139785e-03 -7.97490309e-07 9.99995849e-01 -6.10770569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:-30.11, Z:-6.11 [[ 9.91636753e-01 1.29015711e-01 3.39050386e-03 2.52939044e+02] [-1.29014969e-01 9.91642550e-01 -4.37761834e-04 -3.01092022e+01] [-3.41864604e-03 -3.32502469e-06 9.99994156e-01 -6.10841215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.97, Y:-30.11, Z:-6.11 [[ 9.91516780e-01 1.29912198e-01 4.15889323e-03 2.52967979e+02] [-1.29911090e-01 9.91525502e-01 -5.36507633e-04 -3.01118305e+01] [-4.19334758e-03 -8.33003188e-06 9.99991208e-01 -6.10944697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.00, Y:-30.11, Z:-6.11 [[ 9.91341919e-01 1.31267762e-01 3.15815161e-03 2.52997681e+02] [-1.31267130e-01 9.91346950e-01 -4.07689565e-04 -3.01144950e+01] [-3.18434046e-03 -1.04017407e-05 9.99994930e-01 -6.11027269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.03, Y:-30.11, Z:-6.11 [[ 9.91216761e-01 1.32237889e-01 1.57283281e-03 2.53027200e+02] [-1.32237733e-01 9.91218009e-01 -2.03019110e-04 -3.01145190e+01] [-1.58586703e-03 -6.75190175e-06 9.99998742e-01 -6.11214520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.06, Y:-30.12, Z:-6.11 [[ 9.91150287e-01 1.32729839e-01 1.97434887e-03 2.53055512e+02] [-1.32729594e-01 9.91152254e-01 -2.55491253e-04 -3.01165273e+01] [-1.99079164e-03 -8.82429451e-06 9.99998018e-01 -6.11330234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.08, Y:-30.12, Z:-6.11 [[ 9.91071320e-01 1.33324387e-01 1.49856525e-03 2.53084741e+02] [-1.33324247e-01 9.91072453e-01 -1.93628660e-04 -3.01197223e+01] [-1.51100217e-03 -7.89527219e-06 9.99998858e-01 -6.11349069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.11, Y:-30.12, Z:-6.11 [[ 9.91011630e-01 1.33763980e-01 1.77388173e-03 2.53112902e+02] [-1.33763784e-01 9.91013218e-01 -2.29083172e-04 -3.01228526e+01] [-1.78858331e-03 -1.02570444e-05 9.99998400e-01 -6.11439221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:-30.12, Z:-6.11 [[ 9.90899718e-01 1.34581128e-01 2.38102885e-03 2.53142009e+02] [-1.34580777e-01 9.90902578e-01 -3.07640978e-04 -3.01229337e+01] [-2.40077030e-03 -1.55993552e-05 9.99997118e-01 -6.11437502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.17, Y:-30.13, Z:-6.12 [[ 9.90889896e-01 1.34652395e-01 2.43844860e-03 2.53171711e+02] [-1.34652029e-01 9.90892896e-01 -3.14459692e-04 -3.01259139e+01] [-2.45858415e-03 -1.67471201e-05 9.99996978e-01 -6.11559906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.20, Y:-30.13, Z:-6.12 [[ 9.91051159e-01 1.33473986e-01 1.51495166e-03 2.53201378e+02] [-1.33473843e-01 9.91052317e-01 -1.95547783e-04 -3.01299523e+01] [-1.52749690e-03 -8.40856256e-06 9.99998833e-01 -6.11652759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:-30.13, Z:-6.12 [[ 9.91160586e-01 1.32646699e-01 2.35491144e-03 2.53230702e+02] [-1.32646351e-01 9.91163384e-01 -3.04104444e-04 -3.01318074e+01] [-2.37444045e-03 -1.09540701e-05 9.99997181e-01 -6.11652284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.26, Y:-30.13, Z:-6.12 [[ 9.91456849e-01 1.30401985e-01 2.93913190e-03 2.53259774e+02] [-1.30401435e-01 9.91461206e-01 -3.78862243e-04 -3.01300236e+01] [-2.96343964e-03 -7.64145125e-06 9.99995609e-01 -6.11713061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:-30.13, Z:-6.12 [[ 9.91672756e-01 1.28760331e-01 2.43375049e-03 2.53288205e+02] [-1.28759949e-01 9.91675742e-01 -3.13763390e-04 -3.01334886e+01] [-2.45389161e-03 -2.21898324e-06 9.99996989e-01 -6.11882462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.32, Y:-30.14, Z:-6.12 [[ 9.91907580e-01 1.26952129e-01 1.58439724e-03 2.53317862e+02] [-1.26951964e-01 9.91908845e-01 -2.04241125e-04 -3.01382304e+01] [-1.59750648e-03 1.44597812e-06 9.99998724e-01 -6.12000337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:-30.14, Z:-6.12 [[ 9.92214648e-01 1.24527702e-01 1.71571410e-03 2.53346951e+02] [-1.24527506e-01 9.92216131e-01 -2.21080987e-04 -3.01431301e+01] [-1.72988991e-03 5.70619634e-06 9.99998504e-01 -6.12084927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.38, Y:-30.14, Z:-6.12 [[ 9.92086200e-01 1.25518767e-01 3.16389536e-03 2.53376288e+02] [-1.25518105e-01 9.92091245e-01 -4.07621823e-04 -3.01428668e+01] [-3.19003708e-03 7.26983518e-06 9.99994912e-01 -6.12071342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.41, Y:-30.14, Z:-6.12 [[ 9.91864246e-01 1.27262466e-01 3.09544721e-03 2.53405650e+02] [-1.27261841e-01 9.91869076e-01 -3.98670709e-04 -3.01444870e+01] [-3.12101418e-03 1.49491141e-06 9.99995130e-01 -6.12094334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:-30.15, Z:-6.12 [[ 9.91621913e-01 1.29152116e-01 2.39004083e-03 2.53434175e+02] [-1.29151749e-01 9.91624793e-01 -3.07954766e-04 -3.01464439e+01] [-2.40979676e-03 -3.30325839e-06 9.99997096e-01 -6.12182371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:-30.15, Z:-6.12 [[ 9.91273820e-01 1.31806758e-01 1.78685556e-03 2.53463313e+02] [-1.31806557e-01 9.91275430e-01 -2.30463123e-04 -3.01482351e+01] [-1.80164262e-03 -7.06721969e-06 9.99998377e-01 -6.12275995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:-30.15, Z:-6.12 [[ 9.91095401e-01 1.33135435e-01 2.20511026e-03 2.53491424e+02] [-1.33135132e-01 9.91097854e-01 -2.84392013e-04 -3.01491184e+01] [-2.22334271e-03 -1.17180296e-05 9.99997528e-01 -6.12402324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:-30.15, Z:-6.13 [[ 9.91022903e-01 1.33670963e-01 2.38296765e-03 2.53520412e+02] [-1.33670612e-01 9.91025768e-01 -3.06651135e-04 -3.01502690e+01] [-2.40257270e-03 -1.46344460e-05 9.99997114e-01 -6.12501101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:-30.15, Z:-6.13 [[ 9.90997157e-01 1.33861878e-01 2.37324679e-03 2.53548122e+02] [-1.33861530e-01 9.90999999e-01 -3.05532558e-04 -3.01505370e+01] [-2.39278673e-03 -1.49045509e-05 9.99997137e-01 -6.12626703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.58, Y:-30.15, Z:-6.13 [[ 9.91093562e-01 1.33166555e-01 -4.69370204e-04 2.53577537e+02] [-1.33166542e-01 9.91093673e-01 5.89572142e-05 -3.01500364e+01] [ 4.73040969e-04 4.07229165e-06 9.99999888e-01 -6.12837268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:-30.15, Z:-6.13 [[ 9.91185460e-01 1.32480242e-01 -6.07315521e-04 2.53605251e+02] [-1.32480220e-01 9.91185646e-01 7.63015841e-05 -3.01531674e+01] [ 6.12070879e-04 4.82827336e-06 9.99999813e-01 -6.12945375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.63, Y:-30.16, Z:-6.13 [[ 9.91434082e-01 1.30607016e-01 5.17874248e-04 2.53633771e+02] [-1.30606998e-01 9.91434217e-01 -6.74220851e-05 -3.01584723e+01] [-5.22244048e-04 -7.93448089e-07 9.99999864e-01 -6.12982186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:253.66, Y:-30.16, Z:-6.13 [[ 9.91597902e-01 1.29358420e-01 1.61216021e-05 2.53662091e+02] [-1.29358420e-01 9.91597902e-01 -3.20749929e-06 -3.01610587e+01] [-1.64010642e-05 1.09508460e-06 1.00000000e+00 -6.13164242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:-30.16, Z:-6.13 [[ 9.91828092e-01 1.27581191e-01 2.74883001e-04 2.53690847e+02] [-1.27581186e-01 9.91828130e-01 -3.62933303e-05 -3.01612863e+01] [-2.77267040e-04 9.26845291e-07 9.99999962e-01 -6.13039407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.72, Y:-30.16, Z:-6.13 [[ 9.91930686e-01 1.26778235e-01 8.91115167e-04 2.53719863e+02] [-1.26778182e-01 9.91931086e-01 -1.15048237e-04 -3.01640011e+01] [-8.98510448e-04 1.14591541e-06 9.99999596e-01 -6.13293162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.75, Y:-30.17, Z:-6.13 [[ 9.92015141e-01 1.26107448e-01 1.69428250e-03 2.53748305e+02] [-1.26107260e-01 9.92016588e-01 -2.17636993e-04 -3.01677777e+01] [-1.70820199e-03 2.23786847e-06 9.99998541e-01 -6.13163991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:-30.17, Z:-6.13 [[ 9.92216162e-01 1.24484606e-01 3.26647659e-03 2.53775908e+02] [-1.24483902e-01 9.92221539e-01 -4.18600996e-04 -3.01701533e+01] [-3.29317781e-03 8.71892161e-06 9.99994577e-01 -6.13174248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.80, Y:-30.17, Z:-6.13 [[ 9.92365024e-01 1.23280929e-01 3.67034728e-03 2.53804920e+02] [-1.23280035e-01 9.92371812e-01 -4.69712845e-04 -3.01731139e+01] [-3.70025582e-03 1.36460582e-05 9.99993154e-01 -6.13212398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.83, Y:-30.18, Z:-6.13 [[ 9.92717492e-01 1.20382644e-01 4.47220909e-03 2.53832107e+02] [-1.20381288e-01 9.92727565e-01 -5.72083490e-04 -3.01766320e+01] [-4.50855417e-03 2.95469949e-05 9.99989836e-01 -6.13324555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:-30.18, Z:-6.13 [[ 9.92963688e-01 1.18337900e-01 4.38806444e-03 2.53860797e+02] [-1.18336577e-01 9.92973383e-01 -5.60854979e-04 -3.01814077e+01] [-4.42360159e-03 3.76401058e-05 9.99990215e-01 -6.13379774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.89, Y:-30.19, Z:-6.13 [[ 9.93407624e-01 1.14559060e-01 4.18506345e-03 2.53888927e+02] [-1.14557824e-01 9.93416438e-01 -5.34513904e-04 -3.01871538e+01] [-4.21874424e-03 5.15584237e-05 9.99991100e-01 -6.13447486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:-30.19, Z:-6.14 [[ 9.93518467e-01 1.13582880e-01 4.47043069e-03 2.53917792e+02] [-1.13581463e-01 9.93528523e-01 -5.70507834e-04 -3.01915326e+01] [-4.50630032e-03 5.90520122e-05 9.99989845e-01 -6.13531800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:253.95, Y:-30.20, Z:-6.14 [[ 9.93622456e-01 1.12714233e-01 3.14908120e-03 2.53947150e+02] [-1.12713525e-01 9.93627445e-01 -4.01970708e-04 -3.01977811e+01] [-3.17432132e-03 4.44630806e-05 9.99994961e-01 -6.13837112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.98, Y:-30.20, Z:-6.14 [[ 9.93488498e-01 1.13902418e-01 2.61584637e-03 2.53976291e+02] [-1.13901934e-01 9.93491942e-01 -3.33943585e-04 -3.02043638e+01] [-2.63685927e-03 3.38191510e-05 9.99996523e-01 -6.13677610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:-30.21, Z:-6.14 [[ 9.93340859e-01 1.15185639e-01 2.49141127e-03 2.54005984e+02] [-1.15185203e-01 9.93343983e-01 -3.18022058e-04 -3.02091754e+01] [-2.51145996e-03 2.89305901e-05 9.99996846e-01 -6.13769016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:-30.21, Z:-6.14 [[ 9.93191517e-01 1.16472446e-01 2.18641492e-03 2.54034655e+02] [-1.16472114e-01 9.93193923e-01 -2.79359388e-04 -3.02138743e+01] [-2.20407168e-03 2.28010076e-05 9.99997571e-01 -6.13817192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:-30.22, Z:-6.14 [[ 9.92837101e-01 1.19454038e-01 2.28563241e-03 2.54061762e+02] [-1.19453682e-01 9.92839732e-01 -2.92148173e-04 -3.02190903e+01] [-2.30416495e-03 1.70283374e-05 9.99997345e-01 -6.13872495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.09, Y:-30.22, Z:-6.14 [[ 9.92603586e-01 1.21367429e-01 2.84029096e-03 2.54088932e+02] [-1.21366888e-01 9.92607650e-01 -3.62852521e-04 -3.02231495e+01] [-2.86333301e-03 1.54514401e-05 9.99995901e-01 -6.13937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:-30.23, Z:-6.14 [[ 9.92105908e-01 1.25375617e-01 2.61196302e-03 2.54117110e+02] [-1.25375173e-01 9.92109346e-01 -3.33443525e-04 -3.02284815e+01] [-2.63315861e-03 3.33597513e-06 9.99996533e-01 -6.13971808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:-30.23, Z:-6.14 [[ 9.91868746e-01 1.27244824e-01 2.26853762e-03 2.54144616e+02] [-1.27244493e-01 9.91871340e-01 -2.89890423e-04 -3.02329467e+01] [-2.28698451e-03 -1.12567084e-06 9.99997385e-01 -6.14044556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.17, Y:-30.24, Z:-6.14 [[ 9.91495173e-01 1.30124642e-01 2.21357752e-03 2.54172902e+02] [-1.30124336e-01 9.91497644e-01 -2.82523816e-04 -3.02374343e+01] [-2.23152021e-03 -7.91930482e-06 9.99997510e-01 -6.14082742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:-30.24, Z:-6.14 [[ 9.91334255e-01 1.31336721e-01 2.65718711e-03 2.54200014e+02] [-1.31336284e-01 9.91337816e-01 -3.39031242e-04 -3.02415846e+01] [-2.67869732e-03 -1.28917975e-05 9.99996412e-01 -6.14167849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:-30.25, Z:-6.14 [[ 9.91214388e-01 1.32224932e-01 3.25633095e-03 2.54228928e+02] [-1.32224284e-01 9.91219737e-01 -4.14679792e-04 -3.02466208e+01] [-3.28257052e-03 -1.95294513e-05 9.99994612e-01 -6.14227449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:-30.25, Z:-6.14 [[ 9.91134451e-01 1.32793470e-01 4.28896217e-03 2.54256445e+02] [-1.32792353e-01 9.91143730e-01 -5.45370028e-04 -3.02541304e+01] [-4.32339954e-03 -2.90063548e-05 9.99990654e-01 -6.14356572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:254.29, Y:-30.26, Z:-6.15 [[ 9.91140370e-01 1.32782850e-01 3.07919648e-03 2.54285892e+02] [-1.32782274e-01 9.91145153e-01 -3.91425344e-04 -3.02587136e+01] [-3.10390524e-03 -2.09052523e-05 9.99995183e-01 -6.14679104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:-30.26, Z:-6.15 [[ 9.91124053e-01 1.32926779e-01 1.89313195e-03 2.54314669e+02] [-1.32926561e-01 9.91125861e-01 -2.41082902e-04 -3.02632973e+01] [-1.90837841e-03 -1.27044565e-05 9.99998179e-01 -6.14628805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:-30.27, Z:-6.15 [[ 9.91157696e-01 1.32673264e-01 2.05582090e-03 2.54343329e+02] [-1.32673006e-01 9.91159828e-01 -2.61871346e-04 -3.02674112e+01] [-2.07239041e-03 -1.31961386e-05 9.99997853e-01 -6.14739185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.37, Y:-30.28, Z:-6.15 [[ 9.91182823e-01 1.32472127e-01 2.78339131e-03 2.54369877e+02] [-1.32471654e-01 9.91186731e-01 -3.54357442e-04 -3.02753038e+01] [-2.80580302e-03 -1.74874424e-05 9.99996064e-01 -6.14837609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:-30.28, Z:-6.15 [[ 9.91174152e-01 1.32533601e-01 2.94039921e-03 2.54398806e+02] [-1.32533077e-01 9.91178513e-01 -3.73272558e-04 -3.02817451e+01] [-2.96393167e-03 -1.97220430e-05 9.99995607e-01 -6.14864257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:-30.29, Z:-6.15 [[ 9.91074704e-01 1.33282159e-01 2.60729589e-03 2.54427544e+02] [-1.33281750e-01 9.91078133e-01 -3.30986843e-04 -3.02871745e+01] [-2.62814859e-03 -1.94722713e-05 9.99996546e-01 -6.14879321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:-30.29, Z:-6.15 [[ 9.91031842e-01 1.33606901e-01 2.25485210e-03 2.54456644e+02] [-1.33606594e-01 9.91034407e-01 -2.86763186e-04 -3.02898625e+01] [-2.27294955e-03 -1.70716613e-05 9.99997417e-01 -6.14956188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.48, Y:-30.29, Z:-6.15 [[ 9.91083445e-01 1.33216717e-01 2.62911451e-03 2.54484994e+02] [-1.33216300e-01 9.91086932e-01 -3.33800300e-04 -3.02949077e+01] [-2.65014881e-03 -1.94169562e-05 9.99996488e-01 -6.15066252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:-30.30, Z:-6.15 [[ 9.91207519e-01 1.32288292e-01 2.73173334e-03 2.54514055e+02] [-1.32287839e-01 9.91211283e-01 -3.46493203e-04 -3.03008539e+01] [-2.75356190e-03 -1.79284312e-05 9.99996209e-01 -6.15109299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:-30.31, Z:-6.15 [[ 9.91358449e-01 1.31159552e-01 2.36574711e-03 2.54543541e+02] [-1.31159210e-01 9.91361272e-01 -2.99823071e-04 -3.03063861e+01] [-2.38463473e-03 -1.30573873e-05 9.99997157e-01 -6.15212364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.57, Y:-30.31, Z:-6.15 [[ 9.91359996e-01 1.31147864e-01 2.36575312e-03 2.54573466e+02] [-1.31147523e-01 9.91362818e-01 -2.99775634e-04 -3.03101349e+01] [-2.38463461e-03 -1.30770890e-05 9.99997157e-01 -6.15281807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:-30.32, Z:-6.15 [[ 9.91614946e-01 1.29213839e-01 1.89301622e-03 2.54602859e+02] [-1.29213617e-01 9.91616752e-01 -2.39654090e-04 -3.03172524e+01] [-1.90811322e-03 -6.95889538e-06 9.99998180e-01 -6.15416368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:-30.32, Z:-6.16 [[ 9.91648485e-01 1.28958013e-01 1.76413042e-03 2.54630722e+02] [-1.28957819e-01 9.91650055e-01 -2.23906432e-04 -3.03221482e+01] [-1.77827456e-03 -5.46193745e-06 9.99998419e-01 -6.15515214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.66, Y:-30.33, Z:-6.16 [[ 9.91492731e-01 1.30134102e-01 2.69813980e-03 2.54659460e+02] [-1.30133654e-01 9.91496402e-01 -3.42006739e-04 -3.03293757e+01] [-2.71970265e-03 -1.20215941e-05 9.99996302e-01 -6.15617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:-30.33, Z:-6.16 [[ 9.91284092e-01 1.31717588e-01 2.51517408e-03 2.54689216e+02] [-1.31717203e-01 9.91287283e-01 -3.18799438e-04 -3.03331315e+01] [-2.53525157e-03 -1.52708832e-05 9.99996786e-01 -6.15675958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:-30.34, Z:-6.16 [[ 9.91080704e-01 1.33243237e-01 2.29752787e-03 2.54718686e+02] [-1.33242919e-01 9.91083367e-01 -2.91201568e-04 -3.03359813e+01] [-2.31584230e-03 -1.75250663e-05 9.99997318e-01 -6.15735270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:-30.34, Z:-6.16 [[ 9.90752275e-01 1.35662024e-01 2.39693414e-03 2.54747661e+02] [-1.35661687e-01 9.90755174e-01 -3.03713556e-04 -3.03391836e+01] [-2.41597730e-03 -2.42672317e-05 9.99997081e-01 -6.15863847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:-30.35, Z:-6.16 [[ 9.90690584e-01 1.36117040e-01 2.07790794e-03 2.54777264e+02] [-1.36116788e-01 9.90692763e-01 -2.62797884e-04 -3.03474378e+01] [-2.09433963e-03 -2.24867662e-05 9.99997807e-01 -6.15995763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:-30.35, Z:-6.16 [[ 9.90713864e-01 1.35948406e-01 2.01767190e-03 2.54807566e+02] [-1.35948168e-01 9.90715918e-01 -2.55179690e-04 -3.03517311e+01] [-2.03363094e-03 -2.14887419e-05 9.99997932e-01 -6.16069861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:-30.36, Z:-6.16 [[ 9.90781269e-01 1.35459391e-01 1.79744055e-03 2.54836556e+02] [-1.35459202e-01 9.90782899e-01 -2.27093732e-04 -3.03550996e+01] [-1.81163534e-03 -1.84796455e-05 9.99998359e-01 -6.16220305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:-30.36, Z:-6.16 [[ 9.91110889e-01 1.33026336e-01 1.78870963e-03 2.54866322e+02] [-1.33026144e-01 9.91112503e-01 -2.26242089e-04 -3.03594822e+01] [-1.80290863e-03 -1.37141465e-05 9.99998375e-01 -6.16283546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:-30.36, Z:-6.16 [[ 9.91297470e-01 1.31615182e-01 2.60206053e-03 2.54896789e+02] [-1.31614771e-01 9.91300885e-01 -3.29117483e-04 -3.03648724e+01] [-2.62274176e-03 -1.62162739e-05 9.99996560e-01 -6.16377568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:254.93, Y:-30.37, Z:-6.16 [[ 9.91637412e-01 1.29011724e-01 3.34950318e-03 2.54926072e+02] [-1.29011030e-01 9.91643068e-01 -4.23423188e-04 -3.03729126e+01] [-3.37613817e-03 -1.22405807e-05 9.99994301e-01 -6.16456851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:-30.38, Z:-6.16 [[ 9.91772617e-01 1.27956787e-01 3.75985856e-03 2.54957296e+02] [-1.27955905e-01 9.91779744e-01 -4.75146363e-04 -3.03777151e+01] [-3.78974976e-03 -9.85895165e-06 9.99992819e-01 -6.16485429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.99, Y:-30.38, Z:-6.17 [[ 9.92031607e-01 1.25872772e-01 5.41624077e-03 2.54988613e+02] [-1.25870923e-01 9.92046393e-01 -6.82263654e-04 -3.03831523e+01] [-5.45904053e-03 -4.92011322e-06 9.99985099e-01 -6.16642377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:-30.39, Z:-6.17 [[ 9.92183262e-01 1.24664151e-01 5.58789512e-03 2.55020333e+02] [-1.24662158e-01 9.92198997e-01 -7.04773239e-04 -3.03902972e+01] [-5.63216389e-03 2.66514361e-06 9.99984139e-01 -6.16747391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:-30.40, Z:-6.17 [[ 9.92403878e-01 1.22916687e-01 5.10196332e-03 2.55051400e+02] [-1.22915000e-01 9.92416993e-01 -6.44090068e-04 -3.04007526e+01] [-5.14244451e-03 1.20896591e-05 9.99986777e-01 -6.16782958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.08, Y:-30.41, Z:-6.17 [[ 9.92468050e-01 1.22409438e-01 4.80612053e-03 2.55083741e+02] [-1.22407933e-01 9.92479687e-01 -6.07064450e-04 -3.04060343e+01] [-4.84428742e-03 1.41847900e-05 9.99988266e-01 -6.16891478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:255.12, Y:-30.41, Z:-6.17 [[ 9.92558647e-01 1.21721904e-01 3.33324025e-03 2.55115540e+02] [-1.21721178e-01 9.92564244e-01 -4.20549602e-04 -3.04123579e+01] [-3.35964519e-03 1.16942128e-05 9.99994356e-01 -6.17069525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:-30.42, Z:-6.17 [[ 9.92571030e-01 1.21646538e-01 2.20704023e-03 2.55146626e+02] [-1.21646222e-01 9.92573483e-01 -2.77540120e-04 -3.04190566e+01] [-2.22441140e-03 7.00017769e-06 9.99997526e-01 -6.17208859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:-30.43, Z:-6.17 [[ 9.92502282e-01 1.22218240e-01 1.38610379e-03 2.55178738e+02] [-1.22218118e-01 9.92503250e-01 -1.72517139e-04 -3.04286068e+01] [-1.39679726e-03 1.81665766e-06 9.99999024e-01 -6.17336435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:-30.44, Z:-6.17 [[ 9.92416797e-01 1.22912941e-01 1.14481580e-03 2.55209899e+02] [-1.22912858e-01 9.92417457e-01 -1.42209512e-04 -3.04358143e+01] [-1.15361457e-03 4.18526462e-07 9.99999335e-01 -6.17386658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:-30.44, Z:-6.17 [[ 9.92299740e-01 1.23854174e-01 1.17027507e-03 2.55242110e+02] [-1.23854089e-01 9.92300430e-01 -1.45452970e-04 -3.04432263e+01] [-1.17927941e-03 -6.10407406e-07 9.99999305e-01 -6.17444770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:-30.45, Z:-6.18 [[ 9.92003618e-01 1.26201038e-01 1.45606352e-03 2.55274061e+02] [-1.26200906e-01 9.92004687e-01 -1.82360621e-04 -3.04514679e+01] [-1.46743594e-03 -2.85414022e-06 9.99998923e-01 -6.17562083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47420382200005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:255.31, Y:-30.46, Z:-6.18 [[ 9.91784305e-01 1.27907432e-01 1.89260848e-03 2.55305291e+02] [-1.27907209e-01 9.91786110e-01 -2.39090674e-04 -3.04570823e+01] [-1.90764428e-03 -4.95189099e-06 9.99998180e-01 -6.18125714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:255.34, Y:-30.47, Z:-6.18 [[ 9.91470919e-01 1.30301744e-01 2.62132770e-03 2.55336772e+02] [-1.30301318e-01 9.91474385e-01 -3.33405602e-04 -3.04657437e+01] [-2.64242260e-03 -1.10004951e-05 9.99996509e-01 -6.18197211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:-30.48, Z:-6.18 [[ 9.91337911e-01 1.31330595e-01 1.19216593e-03 2.55368460e+02] [-1.31330510e-01 9.91338628e-01 -1.49270109e-04 -3.04768974e+01] [-1.20144387e-03 -8.59064137e-06 9.99999278e-01 -6.17930844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:255.40, Y:-30.48, Z:-6.18 [[ 9.91236803e-01 1.32087803e-01 1.55361099e-03 2.55401193e+02] [-1.32087658e-01 9.91238020e-01 -1.96160967e-04 -3.04833453e+01] [-1.56590875e-03 -1.07708667e-05 9.99998774e-01 -6.18433324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:-30.49, Z:-6.18 [[ 9.91177687e-01 1.32527141e-01 1.83019963e-03 2.55432792e+02] [-1.32526938e-01 9.91179377e-01 -2.32539151e-04 -3.04877074e+01] [-1.84487388e-03 -1.20631354e-05 9.99998298e-01 -6.18124915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:-30.49, Z:-6.18 [[ 9.91053530e-01 1.33447662e-01 2.14987010e-03 2.55465073e+02] [-1.33447381e-01 9.91055862e-01 -2.74169697e-04 -3.04931997e+01] [-2.16722867e-03 -1.51776889e-05 9.99997651e-01 -6.18206341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:-30.50, Z:-6.18 [[ 9.91003117e-01 1.33817030e-01 2.41328486e-03 2.55497435e+02] [-1.33816675e-01 9.91006056e-01 -3.08711115e-04 -3.05032632e+01] [-2.43289071e-03 -1.70040783e-05 9.99997040e-01 -6.18107898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:-30.51, Z:-6.18 [[ 9.90965506e-01 1.34076232e-01 3.30613828e-03 2.55530104e+02] [-1.34075559e-01 9.90971021e-01 -4.25228507e-04 -3.05104819e+01] [-3.33330026e-03 -2.18855566e-05 9.99994444e-01 -6.18144913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:-30.52, Z:-6.18 [[ 9.90954148e-01 1.34150469e-01 3.67796114e-03 2.55562318e+02] [-1.34149633e-01 9.90960974e-01 -4.74263478e-04 -3.05198687e+01] [-3.70833862e-03 -2.34237750e-05 9.99993124e-01 -6.18179003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.59, Y:-30.53, Z:-6.18 [[ 9.90945262e-01 1.34209147e-01 3.92339558e-03 2.55594473e+02] [-1.34208192e-01 9.90953028e-01 -5.06897033e-04 -3.05252262e+01] [-3.95593095e-03 -2.42446135e-05 9.99992175e-01 -6.18231361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:-30.53, Z:-6.18 [[ 9.90784570e-01 1.35355947e-01 4.97036121e-03 2.55627233e+02] [-1.35354418e-01 9.90797036e-01 -6.44334780e-04 -3.05308336e+01] [-5.01183370e-03 -3.43633890e-05 9.99987440e-01 -6.18415531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:-30.54, Z:-6.19 [[ 9.90647860e-01 1.36364808e-01 4.63216037e-03 2.55659176e+02] [-1.36363482e-01 9.90658689e-01 -6.02471869e-04 -3.05366296e+01] [-4.67104588e-03 -3.48200479e-05 9.99989090e-01 -6.18512675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.69, Y:-30.54, Z:-6.19 [[ 9.90278194e-01 1.39031381e-01 4.40148111e-03 2.55691484e+02] [-1.39030214e-01 9.90287975e-01 -5.71529961e-04 -3.05444683e+01] [-4.43819441e-03 -4.59652027e-05 9.99990150e-01 -6.18574229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:-30.55, Z:-6.19 [[ 9.90054074e-01 1.40612801e-01 4.57943598e-03 2.55724286e+02] [-1.40611549e-01 9.90064663e-01 -5.95708943e-04 -3.05498095e+01] [-4.61770204e-03 -5.41375216e-05 9.99989337e-01 -6.18654571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:-30.55, Z:-6.19 [[ 9.89758990e-01 1.42697016e-01 3.83443714e-03 2.55756239e+02] [-1.42696153e-01 9.89766416e-01 -4.99087780e-04 -3.05535108e+01] [-3.86641544e-03 -5.31828120e-05 9.99992524e-01 -6.18757224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:-30.56, Z:-6.19 [[ 9.89651557e-01 1.43451343e-01 3.39238437e-03 2.55788452e+02] [-1.43450672e-01 9.89657370e-01 -4.41484640e-04 -3.05577746e+01] [-3.42062975e-03 -4.97238549e-05 9.99994148e-01 -6.18886020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:255.82, Y:-30.56, Z:-6.19 [[ 9.89629258e-01 1.43604105e-01 3.43402844e-03 2.55820823e+02] [-1.43603416e-01 9.89635215e-01 -4.47580928e-04 -3.05624664e+01] [-3.46270993e-03 -5.01990340e-05 9.99994004e-01 -6.19407127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:-30.57, Z:-6.19 [[ 9.89753689e-01 1.42747017e-01 3.30505964e-03 2.55853692e+02] [-1.42746373e-01 9.89759207e-01 -4.31218804e-04 -3.05654897e+01] [-3.33276841e-03 -4.49848726e-05 9.99994445e-01 -6.19069017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.89, Y:-30.57, Z:-6.19 [[ 9.89807112e-01 1.42378246e-01 3.21184347e-03 2.55886775e+02] [-1.42377634e-01 9.89812322e-01 -4.19547584e-04 -3.05682285e+01] [-3.23885670e-03 -4.20234927e-05 9.99994754e-01 -6.19159390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:-30.57, Z:-6.19 [[ 9.90074911e-01 1.40490816e-01 3.74182074e-03 2.55918653e+02] [-1.40489965e-01 9.90081981e-01 -4.90532851e-04 -3.05713198e+01] [-3.77362465e-03 -4.00239966e-05 9.99992879e-01 -6.19232187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:-30.58, Z:-6.19 [[ 9.90280735e-01 1.39042728e-01 3.34463451e-03 2.55951050e+02] [-1.39042040e-01 9.90286382e-01 -4.38269714e-04 -3.05752009e+01] [-3.37308423e-03 -3.10347519e-05 9.99994311e-01 -6.19294011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:-30.58, Z:-6.19 [[ 9.90762667e-01 1.35593994e-01 1.89919226e-03 2.55982809e+02] [-1.35593766e-01 9.90764487e-01 -2.48837472e-04 -3.05775407e+01] [-1.91539311e-03 -1.09797532e-05 9.99998166e-01 -6.19429960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:-30.58, Z:-6.19 [[ 9.90977219e-01 1.34020205e-01 1.65397147e-03 2.56015958e+02] [-1.34020029e-01 9.90978599e-01 -2.17381519e-04 -3.05818944e+01] [-1.66818385e-03 -6.24517215e-06 9.99998609e-01 -6.19453277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.05, Y:-30.58, Z:-6.19 [[ 9.91366152e-01 1.31112119e-01 1.66300695e-03 2.56047452e+02] [-1.31111941e-01 9.91367546e-01 -2.16603610e-04 -3.05844621e+01] [-1.67705048e-03 -3.30658136e-06 9.99998594e-01 -6.19489537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:256.08, Y:-30.59, Z:-6.20 [[ 9.91557250e-01 1.29661888e-01 1.41917441e-03 2.56080694e+02] [-1.29661757e-01 9.91558266e-01 -1.84195888e-04 -3.05872286e+01] [-1.43107730e-03 -1.37187975e-06 9.99998976e-01 -6.20075335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:-30.59, Z:-6.20 [[ 9.92115028e-01 1.25324295e-01 1.26182964e-03 2.56112398e+02] [-1.25324186e-01 9.92115830e-01 -1.65159173e-04 -3.05893175e+01] [-1.27257962e-03 5.71912427e-06 9.99999190e-01 -6.19732373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:-30.59, Z:-6.20 [[ 9.92350765e-01 1.23443567e-01 1.28226986e-03 2.56144213e+02] [-1.23443455e-01 9.92351594e-01 -1.66720617e-04 -3.05937445e+01] [-1.29304313e-03 7.15751060e-06 9.99999164e-01 -6.19779909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:-30.60, Z:-6.20 [[ 9.92677255e-01 1.20783974e-01 1.76017592e-03 2.56177576e+02] [-1.20783755e-01 9.92678816e-01 -2.30524577e-04 -3.05969568e+01] [-1.77513303e-03 1.62358466e-05 9.99998424e-01 -6.19785831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:-30.60, Z:-6.20 [[ 9.92753609e-01 1.20150252e-01 2.04647201e-03 2.56209750e+02] [-1.20149952e-01 9.92755718e-01 -2.69455619e-04 -3.06008691e+01] [-2.06402195e-03 2.16195241e-05 9.99997870e-01 -6.19897313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:-30.61, Z:-6.20 [[ 9.92720300e-01 1.20429146e-01 1.79651414e-03 2.56242135e+02] [-1.20428916e-01 9.92721925e-01 -2.36121292e-04 -3.06056060e+01] [-1.81187486e-03 1.80501498e-05 9.99998358e-01 -6.19924620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:256.27, Y:-30.61, Z:-6.20 [[ 9.92566230e-01 1.21691125e-01 1.88375535e-03 2.56273680e+02] [-1.21690871e-01 9.92568018e-01 -2.49722781e-04 -3.06093829e+01] [-1.90014436e-03 1.86305717e-05 9.99998195e-01 -6.20397378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.31, Y:-30.61, Z:-6.20 [[ 9.92264252e-01 1.24120369e-01 2.40597556e-03 2.56307000e+02] [-1.24119962e-01 9.92267168e-01 -3.18466211e-04 -3.06121540e+01] [-2.42689870e-03 1.73730419e-05 9.99997055e-01 -6.20358648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:-30.62, Z:-6.20 [[ 9.92111595e-01 1.25325821e-01 2.83217456e-03 2.56339975e+02] [-1.25325259e-01 9.92115637e-01 -3.76079821e-04 -3.06161953e+01] [-2.85697718e-03 1.81701430e-05 9.99995919e-01 -6.20074626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:-30.62, Z:-6.20 [[ 9.91958576e-01 1.26519524e-01 3.31559175e-03 2.56372259e+02] [-1.26518753e-01 9.91964117e-01 -4.42040768e-04 -3.06181156e+01] [-3.34487483e-03 1.90015957e-05 9.99994406e-01 -6.20079099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:-30.62, Z:-6.20 [[ 9.91930583e-01 1.26751934e-01 2.76874188e-03 2.56404647e+02] [-1.26751398e-01 9.91934447e-01 -3.68758074e-04 -3.06222510e+01] [-2.79315124e-03 1.48405073e-05 9.99996099e-01 -6.20186423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:-30.63, Z:-6.20 [[ 9.91889676e-01 1.27083465e-01 2.15934304e-03 2.56436246e+02] [-1.27083141e-01 9.91892027e-01 -2.87283283e-04 -3.06274127e+01] [-2.17834410e-03 1.05372257e-05 9.99997627e-01 -6.20362936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:-30.63, Z:-6.20 [[ 9.91795075e-01 1.27837737e-01 -2.04570495e-04 2.56469255e+02] [-1.27837733e-01 9.91795096e-01 3.22239461e-05 -3.06325869e+01] [ 2.07011449e-04 -5.80772282e-06 9.99999979e-01 -6.20475963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:256.50, Y:-30.63, Z:-6.21 [[ 9.91538457e-01 1.29812535e-01 4.40498096e-04 2.56502596e+02] [-1.29812523e-01 9.91538555e-01 -5.50910261e-05 -3.06348810e+01] [-4.43922352e-04 -2.55729825e-06 9.99999901e-01 -6.21025696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.54, Y:-30.64, Z:-6.21 [[ 9.91396513e-01 1.30891439e-01 6.20750327e-04 2.56535784e+02] [-1.30891414e-01 9.91396707e-01 -7.95488464e-05 -3.06393760e+01] [-6.25822093e-04 -2.38643938e-06 9.99999804e-01 -6.20958063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.57, Y:-30.64, Z:-6.21 [[ 9.91384998e-01 1.30978631e-01 6.20394769e-04 2.56568951e+02] [-1.30978605e-01 9.91385192e-01 -8.21706348e-05 -3.06440127e+01] [-6.25812785e-04 2.04293160e-07 9.99999804e-01 -6.21035226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:-30.65, Z:-6.21 [[ 9.91188084e-01 1.32460783e-01 5.67652432e-04 2.56600266e+02] [-1.32460763e-01 9.91188247e-01 -7.28206270e-05 -3.06491622e+01] [-5.72296296e-04 -3.01273664e-06 9.99999836e-01 -6.20685736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:-30.65, Z:-6.21 [[ 9.91051078e-01 1.33482625e-01 3.87615319e-04 2.56631835e+02] [-1.33482617e-01 9.91051153e-01 -4.85036589e-05 -3.06530198e+01] [-3.90621005e-04 -3.67030359e-06 9.99999924e-01 -6.20697887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:-30.66, Z:-6.21 [[ 9.90934527e-01 1.34344646e-01 5.28103355e-04 2.56664713e+02] [-1.34344629e-01 9.90934668e-01 -6.75398645e-05 -3.06567520e+01] [-5.32389542e-04 -4.02026564e-06 9.99999858e-01 -6.20838752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.70, Y:-30.66, Z:-6.21 [[ 9.90827877e-01 1.35129981e-01 7.53774557e-05 2.56695795e+02] [-1.35129981e-01 9.90827880e-01 -6.13389955e-06 -3.06626905e+01] [-7.55149587e-05 -4.10811547e-06 9.99999997e-01 -6.21027785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:-30.67, Z:-6.21 [[ 9.90630020e-01 1.36572097e-01 -4.75360428e-04 2.56729020e+02] [-1.36572079e-01 9.90630134e-01 6.94034340e-05 -3.06661233e+01] [ 4.80384937e-04 -3.83216331e-06 9.99999885e-01 -6.21138010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.76, Y:-30.67, Z:-6.21 [[ 9.90524731e-01 1.37334237e-01 -2.52967180e-04 2.56762486e+02] [-1.37334231e-01 9.90524764e-01 3.91651202e-05 -3.06682473e+01] [ 2.55948967e-04 -4.05296699e-06 9.99999967e-01 -6.21222561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:-30.67, Z:-6.21 [[ 9.90369668e-01 1.38446980e-01 5.95120775e-04 2.56794852e+02] [-1.38446959e-01 9.90369847e-01 -7.68850824e-05 -3.06731542e+01] [-6.00034178e-04 -6.24800792e-06 9.99999820e-01 -6.21277495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:256.83, Y:-30.68, Z:-6.22 [[ 9.90224410e-01 1.39480240e-01 9.38365200e-04 2.56826631e+02] [-1.39480185e-01 9.90224855e-01 -1.24464892e-04 -3.06779461e+01] [-9.46552937e-04 -7.63517666e-06 9.99999552e-01 -6.21717266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:-30.68, Z:-6.21 [[ 9.89932435e-01 1.41537033e-01 1.02087279e-03 2.56859037e+02] [-1.41536968e-01 9.89932961e-01 -1.36076988e-04 -3.06783453e+01] [-1.02985556e-03 -9.78421493e-06 9.99999470e-01 -6.21234787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.89, Y:-30.68, Z:-6.21 [[ 9.89825148e-01 1.42284594e-01 1.12697316e-03 2.56891595e+02] [-1.42284515e-01 9.89825790e-01 -1.51156843e-04 -3.06808389e+01] [-1.13701439e-03 -1.07319842e-05 9.99999354e-01 -6.21402436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:256.92, Y:-30.68, Z:-6.22 [[ 9.89769792e-01 1.42672933e-01 -4.40262868e-04 2.56922837e+02] [-1.42672918e-01 9.89769890e-01 6.49020724e-05 -3.06848389e+01] [ 4.45018699e-04 -1.42452248e-06 9.99999901e-01 -6.22115596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:-30.69, Z:-6.22 [[ 9.89839001e-01 1.42188175e-01 -1.12902354e-03 2.56953387e+02] [-1.42188086e-01 9.89839645e-01 1.59360197e-04 -3.06896102e+01] [ 1.14021139e-03 2.79275707e-06 9.99999350e-01 -6.21734031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:256.99, Y:-30.69, Z:-6.22 [[ 9.90216130e-01 1.39542002e-01 2.15502109e-04 2.56985775e+02] [-1.39542000e-01 9.90216153e-01 -2.57660153e-05 -3.06912374e+01] [-2.16989111e-04 -4.55767131e-06 9.99999976e-01 -6.22256647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:-30.69, Z:-6.22 [[ 9.90429689e-01 1.38016122e-01 7.62714604e-04 2.57016487e+02] [-1.38016085e-01 9.90429982e-01 -1.01794721e-04 -3.06938182e+01] [-7.69464725e-04 -4.44636965e-06 9.99999704e-01 -6.21865492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:-30.70, Z:-6.22 [[ 9.90841369e-01 1.35026079e-01 -1.15750366e-03 2.57048198e+02] [-1.35025980e-01 9.90842045e-01 1.64277747e-04 -3.06962440e+01] [ 1.16908508e-03 -6.48012182e-06 9.99999317e-01 -6.21919749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:-30.70, Z:-6.22 [[ 9.91005353e-01 1.33808155e-01 -1.94113395e-03 2.57079158e+02] [-1.33807881e-01 9.91007254e-01 2.71237634e-04 -3.07006296e+01] [ 1.95997164e-03 -9.05892591e-06 9.99998079e-01 -6.22020526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:-30.71, Z:-6.22 [[ 9.91210438e-01 1.32281326e-01 -1.87575121e-03 2.57111093e+02] [-1.32281063e-01 9.91212213e-01 2.64326882e-04 -3.07050293e+01] [ 1.89423302e-03 -1.38772005e-05 9.99998206e-01 -6.22128539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:-30.71, Z:-6.22 [[ 9.91562262e-01 1.29627071e-01 -1.05015132e-03 2.57141345e+02] [-1.29626985e-01 9.91562818e-01 1.49607422e-04 -3.07111699e+01] [ 1.06068418e-03 -1.22171240e-05 9.99999437e-01 -6.22167703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:-30.72, Z:-6.22 [[ 9.91829689e-01 1.27549659e-01 -2.22552159e-03 2.57172819e+02] [-1.27549276e-01 9.91832185e-01 3.13654480e-04 -3.07165893e+01] [ 2.24735047e-03 -2.72281574e-05 9.99997474e-01 -6.22208648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24420382200003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:257.20, Y:-30.72, Z:-6.23 [[ 9.91867546e-01 1.27262624e-01 -1.73099593e-03 2.57203566e+02] [-1.27262393e-01 9.91869056e-01 2.43224322e-04 -3.07192342e+01] [ 1.74787466e-03 -2.09556272e-05 9.99998472e-01 -6.22765978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:-30.72, Z:-6.22 [[ 9.91847655e-01 1.27416510e-01 -1.80597907e-03 2.57235468e+02] [-1.27416256e-01 9.91849299e-01 2.55815836e-04 -3.07239537e+01] [ 1.82385424e-03 -2.36192462e-05 9.99998336e-01 -6.22362056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:-30.73, Z:-6.22 [[ 9.91799315e-01 1.27800694e-01 -1.04974712e-03 2.57265972e+02] [-1.27800606e-01 9.91799870e-01 1.50266440e-04 -3.07296106e+01] [ 1.06034321e-03 -1.48758338e-05 9.99999438e-01 -6.22452526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:-30.73, Z:-6.22 [[ 9.91763637e-01 1.28072492e-01 -1.52486547e-03 2.57297657e+02] [-1.28072311e-01 9.91764809e-01 2.15872418e-04 -3.07348911e+01] [ 1.53995523e-03 -1.88013698e-05 9.99998814e-01 -6.22464804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:-30.74, Z:-6.23 [[ 9.91716273e-01 1.28415591e-01 -2.87566997e-03 2.57329996e+02] [-1.28414951e-01 9.91720442e-01 4.07038526e-04 -3.07409478e+01] [ 2.90413079e-03 -3.43877116e-05 9.99995782e-01 -6.22622250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39420382200007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:257.36, Y:-30.75, Z:-6.23 [[ 9.91699298e-01 1.28545724e-01 -2.91531117e-03 2.57360314e+02] [-1.28545072e-01 9.91703583e-01 4.10433525e-04 -3.07460128e+01] [ 2.94388400e-03 -3.22777535e-05 9.99995666e-01 -6.23102337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.39, Y:-30.75, Z:-6.23 [[ 9.91570943e-01 1.29548126e-01 -2.08499717e-03 2.57390787e+02] [-1.29547798e-01 9.91573135e-01 2.92508968e-04 -3.07535958e+01] [ 2.10532117e-03 -1.99366014e-05 9.99997784e-01 -6.22758705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:-30.76, Z:-6.23 [[ 9.91492559e-01 1.30154660e-01 -1.50680294e-03 2.57421770e+02] [-1.30154484e-01 9.91493704e-01 2.14933311e-04 -3.07598661e+01] [ 1.52196020e-03 -1.69876192e-05 9.99998842e-01 -6.22822238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.45, Y:-30.77, Z:-6.23 [[ 9.91498396e-01 1.30113346e-01 -1.20355723e-03 2.57453859e+02] [-1.30113232e-01 9.91499126e-01 1.73521522e-04 -3.07692126e+01] [ 1.21590341e-03 -1.54475896e-05 9.99999261e-01 -6.22920877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:-30.78, Z:-6.23 [[ 9.91506931e-01 1.30047405e-01 -1.29552541e-03 2.57486786e+02] [-1.30047272e-01 9.91507777e-01 1.86690880e-04 -3.07754662e+01] [ 1.30880218e-03 -1.66257571e-05 9.99999143e-01 -6.23006481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54420382200004 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:257.52, Y:-30.78, Z:-6.24 [[ 9.91454293e-01 1.30446106e-01 -1.48280658e-03 2.57518947e+02] [-1.30445932e-01 9.91455402e-01 2.13380813e-04 -3.07833611e+01] [ 1.49797129e-03 -1.81312367e-05 9.99998878e-01 -6.23574683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:257.55, Y:-30.79, Z:-6.24 [[ 9.91320589e-01 1.31446346e-01 -2.31248178e-03 2.57551393e+02] [-1.31445932e-01 9.91323286e-01 3.30642677e-04 -3.07899222e+01] [ 2.33587881e-03 -2.38065688e-05 9.99997272e-01 -6.23539414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:-30.80, Z:-6.23 [[ 9.90912901e-01 1.34468729e-01 -3.12787288e-03 2.57584049e+02] [-1.34467991e-01 9.90917837e-01 4.46203130e-04 -3.07969639e+01] [ 3.15946539e-03 -2.15496574e-05 9.99995009e-01 -6.23199005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:-30.80, Z:-6.23 [[ 9.90646066e-01 1.36438664e-01 -2.20523385e-03 2.57615336e+02] [-1.36438298e-01 9.90648520e-01 3.16038163e-04 -3.08021192e+01] [ 2.22773147e-03 -1.22036100e-05 9.99997519e-01 -6.23201512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:-30.81, Z:-6.23 [[ 9.90152962e-01 1.39982725e-01 -1.39568329e-03 2.57648344e+02] [-1.39982579e-01 9.90153946e-01 2.02141046e-04 -3.08076885e+01] [ 1.41023757e-03 -4.77920861e-06 9.99999006e-01 -6.23236454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:-30.81, Z:-6.23 [[ 9.89951203e-01 1.41408332e-01 -5.47206322e-04 2.57680637e+02] [-1.41408308e-01 9.89951354e-01 8.21182392e-05 -3.08119569e+01] [ 5.53319842e-04 -3.91352956e-06 9.99999847e-01 -6.23349174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:-30.82, Z:-6.23 [[ 9.89700222e-01 1.43148288e-01 1.42776207e-03 2.57712104e+02] [-1.43148151e-01 9.89701252e-01 -1.98469779e-04 -3.08177892e+01] [-1.44146851e-03 -7.95591610e-06 9.99998961e-01 -6.23420223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:-30.82, Z:-6.23 [[ 9.89685874e-01 1.43247723e-01 1.39992729e-03 2.57744903e+02] [-1.43247591e-01 9.89686864e-01 -1.94537226e-04 -3.08226742e+01] [-1.41335666e-03 -8.00546764e-06 9.99999001e-01 -6.23493932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:-30.83, Z:-6.24 [[ 9.89938123e-01 1.41495149e-01 1.27887284e-03 2.57777477e+02] [-1.41495038e-01 9.89938949e-01 -1.77506090e-04 -3.08270873e+01] [-1.29112229e-03 -5.23411472e-06 9.99999166e-01 -6.23657294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:-30.83, Z:-6.24 [[ 9.90173570e-01 1.39836433e-01 1.43985775e-03 2.57809967e+02] [-1.39836289e-01 9.90174617e-01 -2.00612540e-04 -3.08324215e+01] [-1.45376354e-03 -2.70312899e-06 9.99998943e-01 -6.23819062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:257.84, Y:-30.84, Z:-6.24 [[ 9.90729920e-01 1.35845782e-01 -3.87203384e-04 2.57841866e+02] [-1.35845770e-01 9.90729995e-01 5.72752101e-05 -3.08384754e+01] [ 3.91394602e-04 -4.14432259e-06 9.99999923e-01 -6.24330905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:-30.84, Z:-6.24 [[ 9.90936434e-01 1.34326723e-01 -1.14713529e-03 2.57873539e+02] [-1.34326619e-01 9.90937098e-01 1.68223323e-04 -3.08449394e+01] [ 1.15933580e-03 -1.26078156e-05 9.99999328e-01 -6.24020455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:257.90, Y:-30.85, Z:-6.25 [[ 9.91406044e-01 1.30819159e-01 -6.35087611e-04 2.57904639e+02] [-1.30819125e-01 9.91406248e-01 9.49899406e-05 -3.08532552e+01] [ 6.42056329e-04 -1.10919959e-05 9.99999794e-01 -6.24509021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:-30.86, Z:-6.24 [[ 9.91547704e-01 1.29739306e-01 -9.29210683e-04 2.57935874e+02] [-1.29739235e-01 9.91548139e-01 1.37157771e-04 -3.08608240e+01] [ 9.39151878e-04 -1.54433903e-05 9.99999559e-01 -6.24176877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:257.97, Y:-30.87, Z:-6.25 [[ 9.91947978e-01 1.26631784e-01 -1.89743842e-03 2.57967604e+02] [-1.26631487e-01 9.91949792e-01 2.76418968e-04 -3.08679914e+01] [ 1.91716707e-03 -3.39177885e-05 9.99998162e-01 -6.24612351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.00, Y:-30.88, Z:-6.24 [[ 9.92085820e-01 1.25561333e-01 2.76327471e-04 2.58000120e+02] [-1.25561328e-01 9.92085859e-01 -3.51681859e-05 -3.08775724e+01] [-2.78556342e-04 1.93814193e-07 9.99999961e-01 -6.24271079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:-30.89, Z:-6.24 [[ 9.92109375e-01 1.25369141e-01 1.25199037e-03 2.58032592e+02] [-1.25369019e-01 9.92110164e-01 -1.75526659e-04 -3.08859421e+01] [-1.26411800e-03 1.71808384e-05 9.99999201e-01 -6.24390712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.06, Y:-30.89, Z:-6.25 [[ 9.92081170e-01 1.25597249e-01 5.32550858e-04 2.58064640e+02] [-1.25597228e-01 9.92081313e-01 -7.21770165e-05 -3.08941327e+01] [-5.37398989e-04 4.71854727e-06 9.99999856e-01 -6.24723063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.10, Y:-30.91, Z:-6.25 [[ 9.91899409e-01 1.27021863e-01 -1.00391110e-03 2.58096380e+02] [-1.27021777e-01 9.91899917e-01 1.49369683e-04 -3.09053173e+01] [ 1.01475255e-03 -2.06411287e-05 9.99999485e-01 -6.24532105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:-30.91, Z:-6.25 [[ 9.91723302e-01 1.28383389e-01 -1.61152337e-03 2.58127249e+02] [-1.28383173e-01 9.91724611e-01 2.36975262e-04 -3.09118881e+01] [ 1.62861107e-03 -2.81214055e-05 9.99998673e-01 -6.24665875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.16, Y:-30.92, Z:-6.25 [[ 9.91223964e-01 1.32169257e-01 -2.51803729e-03 2.58159614e+02] [-1.32168748e-01 9.91227162e-01 3.68557523e-04 -3.09210305e+01] [ 2.54465893e-03 -3.25172130e-05 9.99996762e-01 -6.25040255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:-30.93, Z:-6.25 [[ 9.90864006e-01 1.34827047e-01 -3.19211078e-03 2.58192033e+02] [-1.34826243e-01 9.90869147e-01 4.66679585e-04 -3.09288336e+01] [ 3.22588512e-03 -3.20356984e-05 9.99994796e-01 -6.24945559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:-30.94, Z:-6.25 [[ 9.90030810e-01 1.40808997e-01 -3.43827572e-03 2.58222871e+02] [-1.40808101e-01 9.90036780e-01 5.02651179e-04 -3.09366327e+01] [ 3.47479723e-03 -1.35030797e-05 9.99993963e-01 -6.25000969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:-30.94, Z:-6.25 [[ 9.89574764e-01 1.43975580e-01 -3.58041116e-03 2.58254956e+02] [-1.43974625e-01 9.89581241e-01 5.24352887e-04 -3.09425067e+01] [ 3.61860173e-03 -3.39803157e-06 9.99993453e-01 -6.25054752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382200007 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:258.29, Y:-30.95, Z:-6.25 [[ 9.88749838e-01 1.49533315e-01 -3.68034192e-03 2.58286193e+02] [-1.49532344e-01 9.88756688e-01 5.39234090e-04 -3.09491674e+01] [ 3.71959615e-03 1.71625356e-05 9.99993082e-01 -6.25433117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:-30.95, Z:-6.25 [[ 9.87961399e-01 1.54689816e-01 -1.82637411e-03 2.58317390e+02] [-1.54689581e-01 9.87963087e-01 2.70051327e-04 -3.09546732e+01] [ 1.84616440e-03 1.57207591e-05 9.99998296e-01 -6.25069260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:-30.96, Z:-6.25 [[ 9.87636088e-01 1.56763106e-01 -5.35859440e-04 2.58348995e+02] [-1.56763084e-01 9.87636233e-01 8.21562920e-05 -3.09590469e+01] [ 5.42113274e-04 2.86245974e-06 9.99999853e-01 -6.25139715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:-30.96, Z:-6.25 [[ 9.87383448e-01 1.58347285e-01 2.54534585e-04 2.58381797e+02] [-1.58347281e-01 9.87383480e-01 -3.26960201e-05 -3.09640576e+01] [-2.56500570e-04 -8.02135045e-06 9.99999967e-01 -6.25152441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:-30.97, Z:-6.25 [[ 9.87044424e-01 1.60440936e-01 1.41837573e-03 2.58413536e+02] [-1.60440808e-01 9.87045442e-01 -2.04365826e-04 -3.09709204e+01] [-1.43278995e-03 -2.58471994e-05 9.99998973e-01 -6.25149900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:-30.98, Z:-6.25 [[ 9.86906194e-01 1.61283930e-01 1.91238360e-03 2.58445652e+02] [-1.61283700e-01 9.86908047e-01 -2.75167727e-04 -3.09765262e+01] [-1.93172689e-03 -3.68715673e-05 9.99998134e-01 -6.25217592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:-30.98, Z:-6.25 [[ 9.86765297e-01 1.62135070e-01 2.54333905e-03 2.58478976e+02] [-1.62134660e-01 9.86768573e-01 -3.67938417e-04 -3.09797989e+01] [-2.56934277e-03 -4.92945518e-05 9.99996698e-01 -6.25300301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:-30.98, Z:-6.26 [[ 9.86578084e-01 1.63284225e-01 1.39505502e-03 2.58511209e+02] [-1.63284105e-01 9.86579070e-01 -2.00357039e-04 -3.09787218e+01] [-1.40904723e-03 -3.01224467e-05 9.99999007e-01 -6.25505297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:-30.98, Z:-6.26 [[ 9.86457054e-01 1.64016650e-01 1.00925354e-03 2.58542854e+02] [-1.64016587e-01 9.86457570e-01 -1.45324323e-04 -3.09810439e+01] [-1.01942141e-03 -2.21781176e-05 9.99999480e-01 -6.25590932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.58, Y:-30.98, Z:-6.26 [[ 9.86369534e-01 1.64541181e-01 1.15878025e-03 2.58576027e+02] [-1.64541100e-01 9.86370214e-01 -1.65811439e-04 -3.09843600e+01] [-1.17026913e-03 -2.71156250e-05 9.99999315e-01 -6.25680983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:-30.99, Z:-6.26 [[ 9.86347678e-01 1.64672146e-01 1.15856288e-03 2.58609131e+02] [-1.64672063e-01 9.86348358e-01 -1.67292201e-04 -3.09893825e+01] [-1.17029496e-03 -2.57746650e-05 9.99999315e-01 -6.25758149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:-30.99, Z:-6.26 [[ 9.86234195e-01 1.65353775e-01 4.91552651e-04 2.58642336e+02] [-1.65353762e-01 9.86234317e-01 -6.79353353e-05 -3.09907168e+01] [-4.96019457e-04 -1.42799293e-05 9.99999877e-01 -6.25813893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:-30.99, Z:-6.26 [[ 9.86211509e-01 1.65481610e-01 -1.64194871e-03 2.58675483e+02] [-1.65481428e-01 9.86212876e-01 2.46705089e-04 -3.09911531e+01] [ 1.66013612e-03 2.84086197e-05 9.99998622e-01 -6.25850284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:-30.99, Z:-6.26 [[ 9.86226344e-01 1.65392745e-01 -1.68471621e-03 2.58708035e+02] [-1.65392557e-01 9.86227782e-01 2.51492246e-04 -3.09928629e+01] [ 1.70310892e-03 3.06112436e-05 9.99998549e-01 -6.25910221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:-30.99, Z:-6.26 [[ 9.86337085e-01 1.64730731e-01 -1.71491755e-03 2.58740932e+02] [-1.64730531e-01 9.86338575e-01 2.57910700e-04 -3.09937786e+01] [ 1.73397515e-03 2.81123910e-05 9.99998496e-01 -6.25945995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71420382200006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:258.77, Y:-30.99, Z:-6.26 [[ 9.86950389e-01 1.61020285e-01 -1.18245928e-03 2.58773466e+02] [-1.61020186e-01 9.86951097e-01 1.79129149e-04 -3.09903539e+01] [ 1.19587291e-03 1.36082297e-05 9.99999285e-01 -6.26420645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74420382200003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:258.81, Y:-30.99, Z:-6.27 [[ 9.87380895e-01 1.58361048e-01 -8.63645308e-04 2.58806963e+02] [-1.58360993e-01 9.87381273e-01 1.32610389e-04 -3.09918437e+01] [ 8.73747524e-04 5.83076390e-06 9.99999618e-01 -6.26534354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:-30.99, Z:-6.26 [[ 9.88463658e-01 1.51451273e-01 -1.45223632e-03 2.58838456e+02] [-1.51451114e-01 9.88464725e-01 2.19798668e-04 -3.09946980e+01] [ 1.46877316e-03 2.67981300e-06 9.99998921e-01 -6.26260397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:258.87, Y:-31.00, Z:-6.27 [[ 9.89025330e-01 1.47736429e-01 -1.68630911e-03 2.58871112e+02] [-1.47736214e-01 9.89026768e-01 2.52332396e-04 -3.09993686e+01] [ 1.70508354e-03 -4.34207895e-07 9.99998546e-01 -6.26669911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:-31.00, Z:-6.26 [[ 9.89874871e-01 1.41934667e-01 -1.51313649e-03 2.58902945e+02] [-1.41934483e-01 9.89876028e-01 2.29194446e-04 -3.10036278e+01] [ 1.53034818e-03 -1.21075776e-05 9.99998829e-01 -6.26320206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86420382200004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:258.94, Y:-31.01, Z:-6.27 [[ 9.90188884e-01 1.39725678e-01 -1.64576525e-03 2.58935668e+02] [-1.39725456e-01 9.90190252e-01 2.49561134e-04 -3.10068384e+01] [ 1.66449081e-03 -1.71573612e-05 9.99998615e-01 -6.26832004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.97, Y:-31.01, Z:-6.27 [[ 9.90443196e-01 1.37906925e-01 -1.98886670e-03 2.58966913e+02] [-1.37906599e-01 9.90445193e-01 3.00710354e-04 -3.10120265e+01] [ 2.01133350e-03 -2.35586816e-05 9.99997977e-01 -6.26520771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:-31.02, Z:-6.27 [[ 9.90872762e-01 1.34794108e-01 -1.31044445e-03 2.58998247e+02] [-1.34793962e-01 9.90873629e-01 1.99786167e-04 -3.10163810e+01] [ 1.32541485e-03 -2.13226716e-05 9.99999121e-01 -6.26548268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95420382200007 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:259.03, Y:-31.02, Z:-6.27 [[ 9.90979041e-01 1.34015533e-01 -6.14267947e-04 2.59031523e+02] [-1.34015499e-01 9.90979231e-01 9.62864020e-05 -3.10197957e+01] [ 6.21630651e-04 -1.30963812e-05 9.99999807e-01 -6.26918280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.06, Y:-31.02, Z:-6.27 [[ 9.91071936e-01 1.33327093e-01 -5.52177787e-04 2.59063000e+02] [-1.33327065e-01 9.91072089e-01 8.68062160e-05 -3.10238912e+01] [ 5.58821613e-04 -1.24109608e-05 9.99999844e-01 -6.26966806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01420382200007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:259.10, Y:-31.03, Z:-6.27 [[ 9.91016624e-01 1.33737564e-01 -5.60942607e-04 2.59095836e+02] [-1.33737535e-01 9.91016783e-01 8.85424269e-05 -3.10300549e+01] [ 5.67744986e-04 -1.27279355e-05 9.99999839e-01 -6.27036201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:-31.04, Z:-6.27 [[ 9.90676944e-01 1.36231981e-01 2.01286514e-04 2.59128369e+02] [-1.36231979e-01 9.90676964e-01 -2.56166070e-05 -3.10354575e+01] [-2.02899714e-04 -2.04387816e-06 9.99999979e-01 -6.26606957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:-31.04, Z:-6.27 [[ 9.90389962e-01 1.38302034e-01 5.19312914e-04 2.59160005e+02] [-1.38302014e-01 9.90390099e-01 -7.37189013e-05 -3.10392954e+01] [-5.24517842e-04 1.18843787e-06 9.99999862e-01 -6.26663998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:-31.04, Z:-6.27 [[ 9.89766465e-01 1.42695811e-01 -4.99914634e-04 2.59192629e+02] [-1.42695789e-01 9.89766591e-01 7.98106454e-05 -3.10439827e+01] [ 5.06187448e-04 -7.65818747e-06 9.99999872e-01 -6.26739876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:-31.05, Z:-6.27 [[ 9.89177947e-01 1.46720616e-01 2.24264458e-04 2.59225848e+02] [-1.46720613e-01 9.89177972e-01 -2.91464083e-05 -3.10474583e+01] [-2.26113842e-04 -4.07323450e-06 9.99999974e-01 -6.26813959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:-31.05, Z:-6.27 [[ 9.88901869e-01 1.48569906e-01 -2.77683678e-04 2.59258723e+02] [-1.48569899e-01 9.88901908e-01 4.66329347e-05 -3.10508179e+01] [ 2.81530169e-04 -4.85996025e-06 9.99999960e-01 -6.26834307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.29, Y:-31.05, Z:-6.27 [[ 9.88665839e-01 1.50131124e-01 -7.09827523e-04 2.59290274e+02] [-1.50131082e-01 9.88666094e-01 1.11616449e-04 -3.10536544e+01] [ 7.18539508e-04 -3.78419610e-06 9.99999742e-01 -6.27175658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:-31.06, Z:-6.27 [[ 9.88574368e-01 1.50733673e-01 -2.81967778e-04 2.59322750e+02] [-1.50733666e-01 9.88574408e-01 4.73474712e-05 -3.10589477e+01] [ 2.85882987e-04 -4.30445960e-06 9.99999959e-01 -6.27050645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:-31.06, Z:-6.27 [[ 9.88670532e-01 1.50101892e-01 3.33929668e-05 2.59354180e+02] [-1.50101892e-01 9.88670533e-01 -6.66397956e-07 -3.10646808e+01] [-3.31146703e-05 -4.35349949e-06 9.99999999e-01 -6.27112477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:-31.07, Z:-6.27 [[ 9.89063958e-01 1.47486151e-01 -5.67917347e-04 2.59386069e+02] [-1.47486123e-01 9.89064121e-01 9.05170548e-05 -3.10710928e+01] [ 5.75056683e-04 -5.76722892e-06 9.99999835e-01 -6.27256506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:-31.08, Z:-6.27 [[ 9.89231152e-01 1.46353339e-01 -1.55848490e-03 2.59417059e+02] [-1.46353143e-01 9.89232379e-01 2.39199632e-04 -3.10775234e+01] [ 1.57671139e-03 -8.53456376e-06 9.99998757e-01 -6.27352992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.45, Y:-31.08, Z:-6.28 [[ 9.89299361e-01 1.45875733e-01 -2.65426574e-03 2.59449963e+02] [-1.45875164e-01 9.89302921e-01 4.07844458e-04 -3.10823187e+01] [ 2.68536746e-03 -1.62888109e-05 9.99996394e-01 -6.27887929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.48, Y:-31.09, Z:-6.28 [[ 9.89175611e-01 1.46702935e-01 -3.14005229e-03 2.59483066e+02] [-1.46702143e-01 9.89180594e-01 4.82332278e-04 -3.10866116e+01] [ 3.17683835e-03 -1.64589243e-05 9.99994954e-01 -6.27783688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:259.51, Y:-31.09, Z:-6.28 [[ 9.88779010e-01 1.49343587e-01 -3.54436627e-03 2.59514062e+02] [-1.49342598e-01 9.88785363e-01 5.43521426e-04 -3.10916488e+01] [ 3.58578892e-03 -8.09771139e-06 9.99993571e-01 -6.27941761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:-31.10, Z:-6.28 [[ 9.88546350e-01 1.50874117e-01 -3.62147791e-03 2.59546080e+02] [-1.50873092e-01 9.88552983e-01 5.56192123e-04 -3.10972013e+01] [ 3.66393778e-03 -3.43812401e-06 9.99993288e-01 -6.27564490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.58, Y:-31.10, Z:-6.28 [[ 9.88092354e-01 1.53826910e-01 -3.28346741e-03 2.59576454e+02] [-1.53826082e-01 9.88097810e-01 5.04881637e-04 -3.11012944e+01] [ 3.32205133e-03 6.21323914e-06 9.99994482e-01 -6.28002248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.61, Y:-31.11, Z:-6.28 [[ 9.87877732e-01 1.55178638e-01 -4.14440811e-03 2.59607978e+02] [-1.55177330e-01 9.87886426e-01 6.37245482e-04 -3.11058732e+01] [ 4.19309140e-03 1.35975642e-05 9.99991209e-01 -6.28017572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.64, Y:-31.11, Z:-6.28 [[ 9.87553158e-01 1.57231380e-01 -4.12960517e-03 2.59639654e+02] [-1.57230113e-01 9.87561792e-01 6.31678478e-04 -3.11082324e+01] [ 4.17755996e-03 2.54822119e-05 9.99991274e-01 -6.28163708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:-31.11, Z:-6.28 [[ 9.87442034e-01 1.57914510e-01 -4.60827979e-03 2.59671739e+02] [-1.57912920e-01 9.87452787e-01 7.09215062e-04 -3.11126558e+01] [ 4.66245407e-03 2.73981542e-05 9.99989130e-01 -6.27821229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:-31.12, Z:-6.28 [[ 9.87190398e-01 1.59495712e-01 -4.02944577e-03 2.59702323e+02] [-1.59494522e-01 9.87198621e-01 6.16878979e-04 -3.11163905e+01] [ 4.07625285e-03 3.36975229e-05 9.99991691e-01 -6.27837573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:-31.12, Z:-6.28 [[ 9.87086470e-01 1.60156941e-01 -3.17095407e-03 2.59733795e+02] [-1.60156206e-01 9.87091563e-01 4.85876332e-04 -3.11204503e+01] [ 3.20783848e-03 2.82460221e-05 9.99994854e-01 -6.27850349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.77, Y:-31.12, Z:-6.28 [[ 9.87135005e-01 1.59881214e-01 -1.57483929e-03 2.59765048e+02] [-1.59881032e-01 9.87136261e-01 2.41642698e-04 -3.11229540e+01] [ 1.59321510e-03 1.32529654e-05 9.99998731e-01 -6.27861335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.80, Y:-31.13, Z:-6.28 [[ 9.87171605e-01 1.59658585e-01 -1.16577691e-03 2.59795736e+02] [-1.59658482e-01 9.87172293e-01 1.80825564e-04 -3.11265608e+01] [ 1.17969302e-03 7.62031097e-06 9.99999304e-01 -6.28220358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:-31.13, Z:-6.28 [[ 9.87443196e-01 1.57973161e-01 -6.44954612e-04 2.59827305e+02] [-1.57973127e-01 9.87443406e-01 1.03209434e-04 -3.11306632e+01] [ 6.53160499e-04 -2.79562206e-08 9.99999787e-01 -6.27943885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73420382200004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.86, Y:-31.14, Z:-6.28 [[ 9.87501725e-01 1.57608013e-01 -2.41051351e-04 2.59859035e+02] [-1.57608008e-01 9.87501754e-01 4.10169514e-05 -3.11352003e+01] [ 2.44503231e-04 -2.51268717e-06 9.99999970e-01 -6.28376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:-31.14, Z:-6.28 [[ 9.87920453e-01 1.54961318e-01 -4.10797284e-04 2.59891755e+02] [-1.54961303e-01 9.87920538e-01 6.77291850e-05 -3.11413549e+01] [ 4.16330477e-04 -3.25336456e-06 9.99999913e-01 -6.28001170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:-31.15, Z:-6.28 [[ 9.88156846e-01 1.53445953e-01 -6.22533137e-04 2.59924495e+02] [-1.53445921e-01 9.88157042e-01 1.00391288e-04 -3.11473001e+01] [ 6.30565140e-04 -3.67716804e-06 9.99999801e-01 -6.28146644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:-31.15, Z:-6.28 [[ 9.88605568e-01 1.50523430e-01 -1.31452104e-03 2.59956401e+02] [-1.50523288e-01 9.88606442e-01 2.06860531e-04 -3.11525229e+01] [ 1.33068133e-03 -6.63744395e-06 9.99999115e-01 -6.28247201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:259.99, Y:-31.16, Z:-6.29 [[ 9.88724322e-01 1.49739044e-01 -1.56006670e-03 2.59988020e+02] [-1.49738844e-01 9.88725553e-01 2.44663361e-04 -3.11574425e+01] [ 1.57911347e-03 -8.30203043e-06 9.99998753e-01 -6.28684417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.02, Y:-31.17, Z:-6.29 [[ 9.89028382e-01 1.47721071e-01 -1.16002491e-03 2.60019288e+02] [-1.47720958e-01 9.89029062e-01 1.83410135e-04 -3.11655504e+01] [ 1.17439189e-03 -1.00378385e-05 9.99999310e-01 -6.28644201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.05, Y:-31.17, Z:-6.29 [[ 9.89032512e-01 1.47689211e-01 -1.60860547e-03 2.60051596e+02] [-1.47688995e-01 9.89033820e-01 2.53275562e-04 -3.11722893e+01] [ 1.62837128e-03 -1.29244400e-05 9.99998674e-01 -6.28780655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:-31.18, Z:-6.29 [[ 9.89008135e-01 1.47837278e-01 -2.65484866e-03 2.60083035e+02] [-1.47836696e-01 9.89011698e-01 4.15312200e-04 -3.11784308e+01] [ 2.68707501e-03 -1.82630895e-05 9.99996390e-01 -6.28523064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.11, Y:-31.18, Z:-6.29 [[ 9.88690060e-01 1.49859676e-01 -5.83467682e-03 2.60113964e+02] [-1.49856949e-01 9.88707276e-01 9.04265950e-04 -3.11843923e+01] [ 5.90430043e-03 -1.96718881e-05 9.99982569e-01 -6.29067581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004203822 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:260.14, Y:-31.19, Z:-6.29 [[ 9.88536839e-01 1.50838401e-01 -6.53411430e-03 2.60144199e+02] [-1.50835006e-01 9.88558434e-01 1.01204856e-03 -3.11889675e+01] [ 6.61200958e-03 -1.48741098e-05 9.99978140e-01 -6.29219301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:-31.20, Z:-6.29 [[ 9.88288508e-01 1.52451000e-01 -6.67208105e-03 2.60172637e+02] [-1.52387524e-01 9.88278289e-01 9.16874031e-03 -3.11996393e+01] [ 7.99165647e-03 -8.04461878e-03 9.99935707e-01 -6.28531977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:260.20, Y:-31.20, Z:-6.29 [[ 9.88204885e-01 1.52924772e-01 -8.06966259e-03 2.60203672e+02] [-1.52981106e-01 9.88205057e-01 -6.89536163e-03 -3.11967123e+01] [ 6.92000977e-03 8.04853595e-03 9.99943666e-01 -6.29466680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:-31.21, Z:-6.29 [[ 9.88429233e-01 1.51614336e-01 -4.55449774e-03 2.60233603e+02] [-1.51612692e-01 9.88439727e-01 7.06096688e-04 -3.12108238e+01] [ 4.60890089e-03 -7.40694325e-06 9.99989379e-01 -6.28864267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.26, Y:-31.22, Z:-6.29 [[ 9.88498306e-01 1.51208421e-01 -2.66703674e-03 2.60264992e+02] [-1.51207843e-01 9.88501904e-01 4.17937295e-04 -3.12163078e+01] [ 2.69956654e-03 -9.85343303e-06 9.99996356e-01 -6.29103578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:-31.22, Z:-6.29 [[ 9.88583348e-01 1.50660214e-01 -2.11298200e-03 2.60297491e+02] [-1.50659847e-01 9.88585606e-01 3.32720146e-04 -3.12224595e+01] [ 2.13899128e-03 -1.05800507e-05 9.99997712e-01 -6.28874793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:-31.23, Z:-6.29 [[ 9.88839223e-01 1.48964788e-01 -2.54609102e-03 2.60328833e+02] [-1.48964255e-01 9.88842501e-01 3.98563417e-04 -3.12311439e+01] [ 2.57705492e-03 -1.48385876e-05 9.99996679e-01 -6.29025279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21420382200006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:260.36, Y:-31.24, Z:-6.30 [[ 9.88840098e-01 1.48968561e-01 -1.90491612e-03 2.60359542e+02] [-1.48968259e-01 9.88841933e-01 3.00467447e-04 -3.12395414e+01] [ 1.92842114e-03 -1.33422212e-05 9.99998141e-01 -6.29502463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:-31.25, Z:-6.29 [[ 9.88798866e-01 1.49231636e-01 -2.59252831e-03 2.60391109e+02] [-1.49231078e-01 9.88802265e-01 4.08386755e-04 -3.12522545e+01] [ 2.62444208e-03 -1.69265670e-05 9.99996556e-01 -6.29101717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27420382200006 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:260.42, Y:-31.26, Z:-6.30 [[ 9.88588573e-01 1.50620376e-01 -2.47692056e-03 2.60423766e+02] [-1.50619869e-01 9.88591676e-01 3.91107104e-04 -3.12593565e+01] [ 2.50757174e-03 -1.35705647e-05 9.99996856e-01 -6.29581413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.46, Y:-31.27, Z:-6.29 [[ 9.88401277e-01 1.51831465e-01 -3.18149159e-03 2.60455625e+02] [-1.51830638e-01 9.88406397e-01 5.01313505e-04 -3.12653611e+01] [ 3.22072181e-03 -1.24510096e-05 9.99994813e-01 -6.29290020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.49, Y:-31.27, Z:-6.30 [[ 9.87704821e-01 1.56244928e-01 -5.16811274e-03 2.60487485e+02] [-1.56242813e-01 9.87718342e-01 8.13004116e-04 -3.12743638e+01] [ 5.23166752e-03 4.47238774e-06 9.99986315e-01 -6.29642854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:-31.28, Z:-6.29 [[ 9.86993757e-01 1.60703725e-01 -4.19957013e-03 2.60518372e+02] [-1.60702363e-01 9.87002691e-01 6.62021262e-04 -3.12841760e+01] [ 4.25137631e-03 2.14699910e-05 9.99990963e-01 -6.29417714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.55, Y:-31.29, Z:-6.29 [[ 9.86649811e-01 1.62813489e-01 -3.73075135e-03 2.60550625e+02] [-1.62812426e-01 9.86656864e-01 5.89082405e-04 -3.12901797e+01] [ 3.77688199e-03 2.61946328e-05 9.99992867e-01 -6.29416103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.58, Y:-31.30, Z:-6.30 [[ 9.86370425e-01 1.64512265e-01 -3.01643352e-03 2.60583166e+02] [-1.64511574e-01 9.86375037e-01 4.77638245e-04 -3.12965152e+01] [ 3.05391208e-03 2.51099867e-05 9.99995336e-01 -6.29540348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.62, Y:-31.30, Z:-6.30 [[ 9.86357523e-01 1.64589597e-01 -3.01675552e-03 2.60616225e+02] [-1.64588913e-01 9.86362136e-01 4.75586275e-04 -3.13018510e+01] [ 3.05388997e-03 2.74264110e-05 9.99995336e-01 -6.29617518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.65, Y:-31.31, Z:-6.30 [[ 9.86079380e-01 1.66241924e-01 -3.32860320e-03 2.60648324e+02] [-1.66241089e-01 9.86084997e-01 5.27732236e-04 -3.13118580e+01] [ 3.37001690e-03 3.29647453e-05 9.99994321e-01 -6.29739135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.68, Y:-31.32, Z:-6.30 [[ 9.86059973e-01 1.66335807e-01 -4.25790784e-03 2.60678761e+02] [-1.66334446e-01 9.86069165e-01 6.74318397e-04 -3.13226991e+01] [ 4.31075492e-03 4.33183600e-05 9.99990708e-01 -6.29915952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.71, Y:-31.33, Z:-6.30 [[ 9.86022287e-01 1.66557403e-01 -4.32212385e-03 2.60711269e+02] [-1.66555997e-01 9.86031759e-01 6.85771707e-04 -3.13295937e+01] [ 4.37597174e-03 4.36894593e-05 9.99990424e-01 -6.29930982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.74, Y:-31.34, Z:-6.30 [[ 9.85952655e-01 1.66970317e-01 -4.27500093e-03 2.60742724e+02] [-1.66968943e-01 9.85961922e-01 6.78831393e-04 -3.13351829e+01] [ 4.32833283e-03 4.44967716e-05 9.99990632e-01 -6.30027597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:260.78, Y:-31.34, Z:-6.31 [[ 9.85666927e-01 1.68577262e-01 -6.51270366e-03 2.60775580e+02] [-1.68574113e-01 9.85688440e-01 1.03348663e-03 -3.13397359e+01] [ 6.59371905e-03 7.91996439e-05 9.99978258e-01 -6.30558783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.81, Y:-31.35, Z:-6.30 [[ 9.85538834e-01 1.69266249e-01 -7.88310245e-03 2.60807640e+02] [-1.69261655e-01 9.85570356e-01 1.25116104e-03 -3.13450541e+01] [ 7.98113143e-03 1.01239172e-04 9.99968145e-01 -6.30308775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.84, Y:-31.35, Z:-6.30 [[ 9.85181689e-01 1.71360428e-01 -7.25563305e-03 2.60839268e+02] [-1.71356582e-01 9.85208400e-01 1.15316059e-03 -3.13501436e+01] [ 7.34591672e-03 1.07227777e-04 9.99973013e-01 -6.30327884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.87, Y:-31.36, Z:-6.30 [[ 9.85075160e-01 1.71969680e-01 -7.30470470e-03 2.60871683e+02] [-1.71965783e-01 9.85102237e-01 1.16291369e-03 -3.13564614e+01] [ 7.39586683e-03 1.10601876e-04 9.99972644e-01 -6.30313696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.90, Y:-31.36, Z:-6.30 [[ 9.85131339e-01 1.71653599e-01 -7.16145470e-03 2.60902682e+02] [-1.71649851e-01 9.85157363e-01 1.13936679e-03 -3.13624910e+01] [ 7.25073624e-03 1.06836700e-04 9.99973707e-01 -6.30153159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.94, Y:-31.37, Z:-6.30 [[ 9.85194124e-01 1.71322289e-01 -6.41967175e-03 2.60936026e+02] [-1.71319249e-01 9.85215035e-01 1.02448962e-03 -3.13659686e+01] [ 6.50027503e-03 9.04921961e-05 9.99978869e-01 -6.30207115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.97, Y:-31.37, Z:-6.30 [[ 9.85325774e-01 1.70573012e-01 -6.16176866e-03 2.60968404e+02] [-1.70570202e-01 9.85345036e-01 9.82577634e-04 -3.13684820e+01] [ 6.23906939e-03 8.28550569e-05 9.99980533e-01 -6.30322407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.00, Y:-31.37, Z:-6.30 [[ 9.85643031e-01 1.68695894e-01 -7.03636761e-03 2.61001372e+02] [-1.68692164e-01 9.85668143e-01 1.12461975e-03 -3.13712304e+01] [ 7.12524214e-03 7.85064572e-05 9.99974612e-01 -6.30476308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.03, Y:-31.38, Z:-6.31 [[ 9.85842524e-01 1.67520415e-01 -7.17141623e-03 2.61034241e+02] [-1.67516499e-01 9.85868605e-01 1.14769613e-03 -3.13750853e+01] [ 7.26233665e-03 6.98828878e-05 9.99973626e-01 -6.30604292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.07, Y:-31.38, Z:-6.31 [[ 9.85793706e-01 1.67788184e-01 -7.60886079e-03 2.61066464e+02] [-1.67783773e-01 9.85823067e-01 1.21901545e-03 -3.13793502e+01] [ 7.70552687e-03 7.49456142e-05 9.99970309e-01 -6.30696222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.10, Y:-31.38, Z:-6.31 [[ 9.85601961e-01 1.68882141e-01 -8.22180079e-03 2.61097669e+02] [-1.68877021e-01 9.85636249e-01 1.31808394e-03 -3.13843626e+01] [ 8.32630572e-03 8.93671056e-05 9.99965332e-01 -6.30657571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.13, Y:-31.39, Z:-6.31 [[ 9.85467299e-01 1.69678965e-01 -7.95310171e-03 2.61130395e+02] [-1.69674184e-01 9.85499386e-01 1.27700252e-03 -3.13888218e+01] [ 8.05445732e-03 9.09918214e-05 9.99967558e-01 -6.30637971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.16, Y:-31.39, Z:-6.31 [[ 9.85363214e-01 1.70318868e-01 -7.12874959e-03 2.61162484e+02] [-1.70315046e-01 9.85388997e-01 1.14429373e-03 -3.13912615e+01] [ 7.21948623e-03 8.65883606e-05 9.99973935e-01 -6.30737862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.20, Y:-31.39, Z:-6.31 [[ 9.85188938e-01 1.71317535e-01 -7.28408193e-03 2.61195861e+02] [-1.71313549e-01 9.85215861e-01 1.17233039e-03 -3.13882154e+01] [ 7.37723380e-03 9.28950011e-05 9.99972784e-01 -6.30913663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02420382200006 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:261.23, Y:-31.39, Z:-6.31 [[ 9.85093719e-01 1.71899731e-01 -6.39111393e-03 2.61228588e+02] [-1.71896662e-01 9.85114448e-01 1.03063523e-03 -3.13903060e+01] [ 6.47314459e-03 8.33388572e-05 9.99979046e-01 -6.31166200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.26, Y:-31.39, Z:-6.31 [[ 9.85100644e-01 1.71872471e-01 -6.04778298e-03 2.61260670e+02] [-1.71869715e-01 9.85119205e-01 9.76355701e-04 -3.13937563e+01] [ 6.12559582e-03 7.76221080e-05 9.99981235e-01 -6.30829654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.29, Y:-31.39, Z:-6.31 [[ 9.85382838e-01 1.70290648e-01 -4.66450205e-03 2.61292544e+02] [-1.70288983e-01 9.85393877e-01 7.54813314e-04 -3.13939420e+01] [ 4.72490941e-03 5.05332233e-05 9.99988836e-01 -6.31100889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.32, Y:-31.40, Z:-6.31 [[ 9.85560354e-01 1.69276379e-01 -4.03693632e-03 2.61323376e+02] [-1.69275121e-01 9.85568621e-01 6.53788869e-04 -3.13963877e+01] [ 4.08934877e-03 3.90044920e-05 9.99991638e-01 -6.31109112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.36, Y:-31.40, Z:-6.31 [[ 9.85963587e-01 1.66885732e-01 -4.99581688e-03 2.61355780e+02] [-1.66883772e-01 9.85976243e-01 8.09469574e-04 -3.13960814e+01] [ 5.06084568e-03 3.56132429e-05 9.99987193e-01 -6.31180480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.39, Y:-31.40, Z:-6.31 [[ 9.86241388e-01 1.65223588e-01 -5.39349221e-03 2.61386784e+02] [-1.65221299e-01 9.86256136e-01 8.70339912e-04 -3.13976841e+01] [ 5.46316547e-03 3.27545439e-05 9.99985076e-01 -6.31150999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382200007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:261.42, Y:-31.40, Z:-6.31 [[ 9.86971847e-01 1.60823619e-01 -4.72611178e-03 2.61417317e+02] [-1.60821812e-01 9.86983163e-01 7.62488147e-04 -3.14003781e+01] [ 4.78721885e-03 7.50752393e-06 9.99988541e-01 -6.31399301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.45, Y:-31.41, Z:-6.31 [[ 9.87420147e-01 1.58032399e-01 -5.21671084e-03 2.61448768e+02] [-1.58030134e-01 9.87433927e-01 8.46185372e-04 -3.14075560e+01] [ 5.28488198e-03 -1.11429728e-05 9.99986035e-01 -6.31124649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382200007 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:261.48, Y:-31.41, Z:-6.32 [[ 9.88226253e-01 1.52919512e-01 -4.94939418e-03 2.61479846e+02] [-1.52917424e-01 9.88238646e-01 7.99764273e-04 -3.14090963e+01] [ 5.01348217e-03 -3.34994414e-05 9.99987432e-01 -6.31556911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.51, Y:-31.41, Z:-6.31 [[ 9.88507984e-01 1.51071109e-01 -5.43006425e-03 2.61509739e+02] [-1.51068570e-01 9.88522897e-01 8.77165091e-04 -3.14127783e+01] [ 5.50025715e-03 -4.67726549e-05 9.99984872e-01 -6.31376298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:261.54, Y:-31.42, Z:-6.32 [[ 9.88908794e-01 1.48391141e-01 -6.28229901e-03 2.61540373e+02] [-1.48387686e-01 9.88928746e-01 1.01523235e-03 -3.14201069e+01] [ 6.36339757e-03 -7.17563877e-05 9.99979751e-01 -6.31848391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:261.57, Y:-31.43, Z:-6.32 [[ 9.88979987e-01 1.47930873e-01 -5.91957949e-03 2.61571953e+02] [-1.47927769e-01 9.88997700e-01 9.61291351e-04 -3.14265131e+01] [ 5.99665517e-03 -7.50277234e-05 9.99982017e-01 -6.31790848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.60, Y:-31.43, Z:-6.32 [[ 9.88989252e-01 1.47896771e-01 -5.17735663e-03 2.61602695e+02] [-1.47894390e-01 9.89002801e-01 8.41837354e-04 -3.14315035e+01] [ 5.24492523e-03 -6.68660949e-05 9.99986243e-01 -6.31806479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.63, Y:-31.44, Z:-6.32 [[ 9.88918838e-01 1.48329778e-01 -6.14886512e-03 2.61633956e+02] [-1.48326425e-01 9.88937951e-01 1.00042385e-03 -3.14375334e+01] [ 6.22923872e-03 -7.72988183e-05 9.99980595e-01 -6.31892629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:261.66, Y:-31.44, Z:-6.32 [[ 9.88793621e-01 1.49137159e-01 -6.72920312e-03 2.61664510e+02] [-1.49133158e-01 9.88816516e-01 1.09525823e-03 -3.14439016e+01] [ 6.81729088e-03 -7.94370433e-05 9.99976759e-01 -6.31899060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:261.70, Y:-31.45, Z:-6.32 [[ 9.88382244e-01 1.51813155e-01 -7.30103770e-03 2.61695716e+02] [-1.51808509e-01 9.88409207e-01 1.18971029e-03 -3.14501432e+01] [ 7.39702656e-03 -6.75288849e-05 9.99972639e-01 -6.31932118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.73, Y:-31.45, Z:-6.32 [[ 9.88066580e-01 1.53831245e-01 -7.77052677e-03 2.61725282e+02] [-1.53826075e-01 9.88097134e-01 1.26222322e-03 -3.14541767e+01] [ 7.87220460e-03 -5.18509444e-05 9.99969012e-01 -6.32026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.76, Y:-31.46, Z:-6.32 [[ 9.87426838e-01 1.57930357e-01 -6.80012758e-03 2.61755713e+02] [-1.57926497e-01 9.87450253e-01 1.10433810e-03 -3.14590446e+01] [ 6.88919621e-03 -1.65327481e-05 9.99976269e-01 -6.31824332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.79, Y:-31.46, Z:-6.32 [[ 9.87103114e-01 1.59956156e-01 -6.43982282e-03 2.61785498e+02] [-1.59952726e-01 9.87124120e-01 1.04757500e-03 -3.14640289e+01] [ 6.52447050e-03 -3.99733509e-06 9.99978715e-01 -6.32057704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.81, Y:-31.47, Z:-6.32 [[ 9.86481575e-01 1.63793627e-01 -5.07438429e-03 2.61814255e+02] [-1.63791556e-01 9.86494626e-01 8.24031323e-04 -3.14679786e+01] [ 5.14082391e-03 1.82495789e-05 9.99986786e-01 -6.32052439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.85, Y:-31.47, Z:-6.32 [[ 9.86232725e-01 1.65316900e-01 -3.91607901e-03 2.61845560e+02] [-1.65315675e-01 9.86240499e-01 6.36819231e-04 -3.14719542e+01] [ 3.96747270e-03 1.93372794e-05 9.99992129e-01 -6.31843754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.88, Y:-31.48, Z:-6.32 [[ 9.86011726e-01 1.66641968e-01 -3.36595560e-03 2.61876328e+02] [-1.66641070e-01 9.86017471e-01 5.47527367e-04 -3.14761109e+01] [ 3.41013206e-03 2.10380384e-05 9.99994185e-01 -6.31922454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.91, Y:-31.48, Z:-6.32 [[ 9.85657570e-01 1.68722413e-01 -3.44981523e-03 2.61906216e+02] [-1.68721483e-01 9.85663607e-01 5.60910888e-04 -3.14787688e+01] [ 3.49499556e-03 2.91918800e-05 9.99993892e-01 -6.32111655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.94, Y:-31.48, Z:-6.32 [[ 9.85438888e-01 1.69999186e-01 -3.23642457e-03 2.61936626e+02] [-1.69998376e-01 9.85444202e-01 5.25949683e-04 -3.14820689e+01] [ 3.27872685e-03 3.18956493e-05 9.99994624e-01 -6.32407897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.97, Y:-31.49, Z:-6.32 [[ 9.85141739e-01 1.71730110e-01 -2.12660552e-03 2.61966179e+02] [-1.71729764e-01 9.85144034e-01 3.45896556e-04 -3.14850490e+01] [ 2.15441359e-03 2.44443276e-05 9.99997679e-01 -6.32199376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77420382200006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:262.00, Y:-31.49, Z:-6.33 [[ 9.84992092e-01 1.72562050e-01 -3.59419999e-03 2.61997435e+02] [-1.72561064e-01 9.84998648e-01 5.84794380e-04 -3.14865991e+01] [ 3.64119545e-03 4.42011355e-05 9.99993370e-01 -6.32557085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.03, Y:-31.49, Z:-6.32 [[ 9.84799847e-01 1.73620004e-01 -5.03545348e-03 2.62027677e+02] [-1.73618086e-01 9.84812718e-01 8.18841849e-04 -3.14869609e+01] [ 5.10114595e-03 6.78504696e-05 9.99986987e-01 -6.32480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:-31.49, Z:-6.33 [[ 9.84792130e-01 1.73666102e-01 -4.95445496e-03 2.62057066e+02] [-1.73664251e-01 9.84804590e-01 8.04715705e-04 -3.14907332e+01] [ 5.01892183e-03 6.79340174e-05 9.99987403e-01 -6.32548524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.09, Y:-31.49, Z:-6.33 [[ 9.84833933e-01 1.73410457e-01 -5.56223744e-03 2.62085930e+02] [-1.73408122e-01 9.84849637e-01 9.03024292e-04 -3.14939522e+01] [ 5.63456138e-03 7.52081811e-05 9.99984123e-01 -6.32890420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:262.12, Y:-31.50, Z:-6.33 [[ 9.85160628e-01 1.71522001e-01 -6.22423124e-03 2.62116077e+02] [-1.71519038e-01 9.85180287e-01 1.01070644e-03 -3.14957126e+01] [ 6.30534831e-03 7.18659632e-05 9.99980119e-01 -6.32970868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92420382200004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.15, Y:-31.50, Z:-6.33 [[ 9.85891614e-01 1.67306786e-01 -5.11522003e-03 2.62145616e+02] [-1.67304728e-01 9.85904883e-01 8.30741753e-04 -3.15006421e+01] [ 5.18210913e-03 3.67791666e-05 9.99986572e-01 -6.32933590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.18, Y:-31.51, Z:-6.33 [[ 9.86302127e-01 1.64887517e-01 -4.49673878e-03 2.62175392e+02] [-1.64885900e-01 9.86312378e-01 7.30544365e-04 -3.15058731e+01] [ 4.55564676e-03 2.09113584e-05 9.99989623e-01 -6.32773717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:262.21, Y:-31.51, Z:-6.33 [[ 9.86667437e-01 1.62687353e-01 -4.49379934e-03 2.62205975e+02] [-1.62685715e-01 9.86677670e-01 7.30066822e-04 -3.15088548e+01] [ 4.55270411e-03 1.07437987e-05 9.99989636e-01 -6.33048554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01420382200007 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:262.24, Y:-31.51, Z:-6.33 [[ 9.87288232e-01 1.58877395e-01 -4.46323640e-03 2.62235171e+02] [-1.58875742e-01 9.87298320e-01 7.24763409e-04 -3.15117123e+01] [ 4.52169432e-03 -6.45039186e-06 9.99989777e-01 -6.33153158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:-31.52, Z:-6.33 [[ 9.87506048e-01 1.57527473e-01 -4.11089101e-03 2.62265162e+02] [-1.57526058e-01 9.87514605e-01 6.67808033e-04 -3.15176111e+01] [ 4.16476303e-03 -1.18920147e-05 9.99991327e-01 -6.33010004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074203822 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:262.29, Y:-31.52, Z:-6.33 [[ 9.87781041e-01 1.55775377e-01 -4.75891509e-03 2.62294125e+02] [-1.55773462e-01 9.87792504e-01 7.72732147e-04 -3.15240176e+01] [ 4.82119329e-03 -2.19774868e-05 9.99988378e-01 -6.33284855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.32, Y:-31.53, Z:-6.33 [[ 9.87932556e-01 1.54821005e-01 -4.44090468e-03 2.62323687e+02] [-1.54819326e-01 9.87942537e-01 7.21362257e-04 -3.15305360e+01] [ 4.49904067e-03 -2.51193870e-05 9.99989879e-01 -6.33338731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:262.35, Y:-31.54, Z:-6.33 [[ 9.88137589e-01 1.53504453e-01 -4.52641927e-03 2.62353361e+02] [-1.53502694e-01 9.88147955e-01 7.35600455e-04 -3.15375926e+01] [ 4.58568990e-03 -3.20569085e-05 9.99989485e-01 -6.33318063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:262.38, Y:-31.54, Z:-6.34 [[ 9.88171853e-01 1.53282555e-01 -4.56586678e-03 2.62383980e+02] [-1.53280761e-01 9.88182401e-01 7.42407496e-04 -3.15438288e+01] [ 4.62570732e-03 -3.37666573e-05 9.99989301e-01 -6.33557057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.41, Y:-31.55, Z:-6.33 [[ 9.88174092e-01 1.53250422e-01 -5.12569568e-03 2.62413188e+02] [-1.53248162e-01 9.88187384e-01 8.33141564e-04 -3.15527681e+01] [ 5.19282710e-03 -3.77854669e-05 9.99986516e-01 -6.33327221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.44, Y:-31.56, Z:-6.34 [[ 9.87950257e-01 1.54664841e-01 -5.75119508e-03 2.62442525e+02] [-1.54662021e-01 9.87966996e-01 9.34491274e-04 -3.15609156e+01] [ 5.82652388e-03 -3.37394375e-05 9.99983025e-01 -6.33685094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.47, Y:-31.57, Z:-6.33 [[ 9.87837844e-01 1.55373869e-01 -5.94592413e-03 2.62472334e+02] [-1.55370866e-01 9.87855738e-01 9.66491186e-04 -3.15686086e+01] [ 6.02388275e-03 -3.09131894e-05 9.99981856e-01 -6.33488809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:262.50, Y:-31.58, Z:-6.34 [[ 9.87671325e-01 1.56399328e-01 -6.67864486e-03 2.62503332e+02] [-1.56395560e-01 9.87693905e-01 1.08601488e-03 -3.15752331e+01] [ 6.76630882e-03 -2.81153606e-05 9.99977108e-01 -6.33773127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.53, Y:-31.58, Z:-6.34 [[ 9.87479378e-01 1.57680173e-01 -4.63053688e-03 2.62533030e+02] [-1.57678377e-01 9.87490234e-01 7.52574405e-04 -3.15825171e+01] [ 4.69127601e-03 -1.30161641e-05 9.99988996e-01 -6.33600619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.56, Y:-31.59, Z:-6.34 [[ 9.87410553e-01 1.58114196e-01 -4.50561706e-03 2.62563562e+02] [-1.58112480e-01 9.87420833e-01 7.36781255e-04 -3.15890445e+01] [ 4.56543572e-03 -1.51113001e-05 9.99989578e-01 -6.33913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374203822 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:262.59, Y:-31.59, Z:-6.34 [[ 9.87404800e-01 1.58150110e-01 -4.50605267e-03 2.62594965e+02] [-1.58148407e-01 9.87415081e-01 7.34103587e-04 -3.15942031e+01] [ 4.56544292e-03 -1.22323544e-05 9.99989578e-01 -6.33987246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:262.63, Y:-31.61, Z:-6.34 [[ 9.87392784e-01 1.58217295e-01 -4.77255398e-03 2.62626633e+02] [-1.58215362e-01 9.87404318e-01 7.82202824e-04 -3.16055346e+01] [ 4.83619842e-03 -1.72500696e-05 9.99988305e-01 -6.34082192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43420382200003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.66, Y:-31.61, Z:-6.34 [[ 9.87413769e-01 1.58106875e-01 -4.03308961e-03 2.62658161e+02] [-1.58105489e-01 9.87422005e-01 6.62172454e-04 -3.16135844e+01] [ 4.08705544e-03 -1.61845946e-05 9.99991648e-01 -6.34181645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:-31.62, Z:-6.34 [[ 9.87317324e-01 1.58712426e-01 -3.85590882e-03 2.62689792e+02] [-1.58711158e-01 9.87324853e-01 6.34441010e-04 -3.16228757e+01] [ 3.90772828e-03 -1.44188456e-05 9.99992365e-01 -6.34027889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49420382200003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:262.72, Y:-31.63, Z:-6.34 [[ 9.87116725e-01 1.59906321e-01 -5.52629726e-03 2.62721089e+02] [-1.59903742e-01 9.87132194e-01 9.08369100e-04 -3.16324710e+01] [ 5.60043990e-03 -1.29907198e-05 9.99984317e-01 -6.34423607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:-31.64, Z:-6.34 [[ 9.86945844e-01 1.60963002e-01 -5.36787576e-03 2.62752654e+02] [-1.60960579e-01 9.86960441e-01 8.83167886e-04 -3.16400018e+01] [ 5.44003838e-03 -7.62248510e-06 9.99985203e-01 -6.34168816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:-31.65, Z:-6.34 [[ 9.86695870e-01 1.62502642e-01 -4.91436628e-03 2.62784403e+02] [-1.62500627e-01 9.86708108e-01 8.09285602e-04 -3.16462101e+01] [ 4.98055610e-03 6.88404416e-08 9.99987597e-01 -6.34230368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.82, Y:-31.65, Z:-6.34 [[ 9.86112183e-01 1.65980320e-01 -5.77026416e-03 2.62816749e+02] [-1.65977594e-01 9.86129065e-01 9.51458907e-04 -3.16528617e+01] [ 5.84814866e-03 1.94893452e-05 9.99982899e-01 -6.34298319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.85, Y:-31.66, Z:-6.34 [[ 9.85781108e-01 1.67911443e-01 -6.43074977e-03 2.62847682e+02] [-1.67908096e-01 9.85802083e-01 1.06073036e-03 -3.16588789e+01] [ 6.51755528e-03 3.41270023e-05 9.99978760e-01 -6.34382578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.88, Y:-31.66, Z:-6.34 [[ 9.85350832e-01 1.70424555e-01 -6.26170129e-03 2.62879167e+02] [-1.70421454e-01 9.85370726e-01 1.02937112e-03 -3.16620719e+01] [ 6.34552726e-03 5.28365523e-05 9.99979866e-01 -6.34479509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.91, Y:-31.67, Z:-6.35 [[ 9.85207821e-01 1.71236606e-01 -6.60111758e-03 2.62910535e+02] [-1.71233149e-01 9.85229933e-01 1.08959308e-03 -3.16667503e+01] [ 6.69019686e-03 5.68545199e-05 9.99977619e-01 -6.34577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.94, Y:-31.68, Z:-6.35 [[ 9.85349894e-01 1.70392201e-01 -7.21698632e-03 2.62942481e+02] [-1.70388032e-01 9.85376321e-01 1.19320184e-03 -3.16752672e+01] [ 7.31475972e-03 5.39667886e-05 9.99973245e-01 -6.34684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:-31.68, Z:-6.35 [[ 9.85526558e-01 1.69397520e-01 -6.47170765e-03 2.62973906e+02] [-1.69394137e-01 9.85547806e-01 1.07142238e-03 -3.16814011e+01] [ 6.55967357e-03 4.03541207e-05 9.99978484e-01 -6.34732169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382200007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.01, Y:-31.69, Z:-6.35 [[ 9.85931318e-01 1.67100457e-01 -4.10778134e-03 2.63005099e+02] [-1.67099064e-01 9.85939875e-01 6.82384624e-04 -3.16855062e+01] [ 4.16405221e-03 1.36220464e-05 9.99991330e-01 -6.35074882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.04, Y:-31.69, Z:-6.35 [[ 9.86123552e-01 1.65968556e-01 -3.84424061e-03 2.63037943e+02] [-1.65967322e-01 9.86131045e-01 6.39910092e-04 -3.16915959e+01] [ 3.89712996e-03 6.98790741e-06 9.99992406e-01 -6.35109205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.07, Y:-31.70, Z:-6.35 [[ 9.86480190e-01 1.63843074e-01 -3.50449273e-03 2.63070612e+02] [-1.63842032e-01 9.86486415e-01 5.84440728e-04 -3.16974825e+01] [ 3.55289104e-03 -2.35598914e-06 9.99993688e-01 -6.34967106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.10, Y:-31.70, Z:-6.35 [[ 9.86571381e-01 1.63285066e-01 -3.85972508e-03 2.63102228e+02] [-1.63283798e-01 9.86578931e-01 6.43635697e-04 -3.17035983e+01] [ 3.91301954e-03 -4.76198999e-06 9.99992344e-01 -6.35080371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.13, Y:-31.71, Z:-6.35 [[ 9.86736276e-01 1.62277193e-01 -4.19927054e-03 2.63134422e+02] [-1.62275679e-01 9.86745212e-01 7.01012721e-04 -3.17111396e+01] [ 4.25736847e-03 -1.02752046e-05 9.99990937e-01 -6.35111796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91420382200005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:263.17, Y:-31.72, Z:-6.36 [[ 9.86742250e-01 1.62243360e-01 -4.10182273e-03 2.63165868e+02] [-1.62241913e-01 9.86750775e-01 6.85305470e-04 -3.17161338e+01] [ 4.15866302e-03 -1.07322942e-05 9.99991353e-01 -6.35546342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.20, Y:-31.72, Z:-6.36 [[ 9.86772094e-01 1.62040788e-01 -4.85975827e-03 2.63197975e+02] [-1.62038751e-01 9.86784061e-01 8.12576578e-04 -3.17225496e+01] [ 4.92720255e-03 -1.43587282e-05 9.99987861e-01 -6.35573195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:-31.73, Z:-6.35 [[ 9.86734662e-01 1.62267363e-01 -4.89995164e-03 2.63229295e+02] [-1.62265292e-01 9.86746828e-01 8.19877981e-04 -3.17289236e+01] [ 4.96805118e-03 -1.39099374e-05 9.99987659e-01 -6.35243056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.26, Y:-31.73, Z:-6.35 [[ 9.86452904e-01 1.63988186e-01 -4.30609681e-03 2.63261866e+02] [-1.63986596e-01 9.86462303e-01 7.22104293e-04 -3.17338531e+01] [ 4.36621875e-03 -6.17971985e-06 9.99990468e-01 -6.35281729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03420382200005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.29, Y:-31.74, Z:-6.36 [[ 9.86176893e-01 1.65653623e-01 -3.74340552e-03 2.63294642e+02] [-1.65652428e-01 9.86183998e-01 6.29226720e-04 -3.17390186e+01] [ 3.79592030e-03 -4.24639213e-07 9.99992795e-01 -6.35662829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.33, Y:-31.74, Z:-6.36 [[ 9.85928914e-01 1.67139805e-01 -2.90894826e-03 2.63326645e+02] [-1.67139086e-01 9.85933205e-01 4.90238607e-04 -3.17440856e+01] [ 2.94996707e-03 2.85853534e-06 9.99995649e-01 -6.35671103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.36, Y:-31.75, Z:-6.35 [[ 9.85456014e-01 1.69907063e-01 -2.83445396e-03 2.63358307e+02] [-1.69906390e-01 9.85460090e-01 4.78269331e-04 -3.17462443e+01] [ 2.87450259e-03 1.02784510e-05 9.99995869e-01 -6.35376889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.39, Y:-31.75, Z:-6.35 [[ 9.85189345e-01 1.71426221e-01 -3.87369658e-03 2.63390826e+02] [-1.71424978e-01 9.85196960e-01 6.53230851e-04 -3.17501166e+01] [ 3.92833499e-03 2.04922752e-05 9.99992284e-01 -6.35467461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15420382200006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.42, Y:-31.75, Z:-6.36 [[ 9.84749607e-01 1.73915535e-01 -4.64726948e-03 2.63422441e+02] [-1.73913775e-01 9.84760573e-01 7.83336272e-04 -3.17517332e+01] [ 4.71268210e-03 3.68340924e-05 9.99988895e-01 -6.35856790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.45, Y:-31.75, Z:-6.36 [[ 9.84547404e-01 1.75058535e-01 -4.57374699e-03 2.63454766e+02] [-1.75056840e-01 9.84558027e-01 7.71488003e-04 -3.17539308e+01] [ 4.63817487e-03 4.10991850e-05 9.99989243e-01 -6.35929921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.49, Y:-31.75, Z:-6.36 [[ 9.84445586e-01 1.75634528e-01 -4.40470812e-03 2.63486726e+02] [-1.75632959e-01 9.84455439e-01 7.43554358e-04 -3.17535347e+01] [ 4.46683269e-03 4.16231142e-05 9.99990023e-01 -6.36084827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24420382200003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.52, Y:-31.76, Z:-6.36 [[ 9.84674062e-01 1.74364813e-01 -3.72883815e-03 2.63517487e+02] [-1.74363689e-01 9.84681121e-01 6.26967370e-04 -3.17580344e+01] [ 3.78103758e-03 3.28154707e-05 9.99992851e-01 -6.36212398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.55, Y:-31.76, Z:-6.36 [[ 9.85054630e-01 1.72223050e-01 -2.56835018e-03 2.63549060e+02] [-1.72222498e-01 9.85057979e-01 4.35913774e-04 -3.17634835e+01] [ 2.60504824e-03 1.29288046e-05 9.99996607e-01 -6.36101183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.58, Y:-31.77, Z:-6.36 [[ 9.85954964e-01 1.66985464e-01 -2.94341119e-03 2.63581521e+02] [-1.66984714e-01 9.85959358e-01 5.00209996e-04 -3.17670013e+01] [ 2.98561161e-03 -1.67985156e-06 9.99995543e-01 -6.35941886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33420382200006 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:263.61, Y:-31.77, Z:-6.37 [[ 9.86667713e-01 1.62681942e-01 -4.62703733e-03 2.63613791e+02] [-1.62680053e-01 9.86678562e-01 7.84266900e-04 -3.17701234e+01] [ 4.69298460e-03 -2.10841491e-05 9.99988988e-01 -6.36541986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:-31.78, Z:-6.36 [[ 9.86901545e-01 1.61229515e-01 -5.51214179e-03 2.63646551e+02] [-1.61226807e-01 9.86916938e-01 9.35009879e-04 -3.17770973e+01] [ 5.59077729e-03 -3.40576714e-05 9.99984371e-01 -6.36246242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:-31.78, Z:-6.36 [[ 9.87033122e-01 1.60399546e-01 -6.13207725e-03 2.63677940e+02] [-1.60396176e-01 9.87052169e-01 1.04052988e-03 -3.17832739e+01] [ 6.21958067e-03 -4.34757152e-05 9.99980657e-01 -6.36308933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.71, Y:-31.79, Z:-6.36 [[ 9.87168460e-01 1.59534242e-01 -6.87432022e-03 2.63708885e+02] [-1.59529987e-01 9.87192394e-01 1.16642793e-03 -3.17884761e+01] [ 6.97236183e-03 -5.48006461e-05 9.99975691e-01 -6.36388362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45420382200007 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:263.74, Y:-31.79, Z:-6.37 [[ 9.87144465e-01 1.59680289e-01 -6.92897811e-03 2.63740050e+02] [-1.59675991e-01 9.87168781e-01 1.17264800e-03 -3.17938946e+01] [ 7.02731964e-03 -5.11815327e-05 9.99975307e-01 -6.36965646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.77, Y:-31.80, Z:-6.37 [[ 9.87046761e-01 1.60297906e-01 -6.57817971e-03 2.63770728e+02] [-1.60294045e-01 9.87068680e-01 1.11348834e-03 -3.18025359e+01] [ 6.67160501e-03 -4.46220252e-05 9.99977744e-01 -6.36602167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.80, Y:-31.81, Z:-6.37 [[ 9.86694589e-01 1.62405522e-01 -7.63115921e-03 2.63801523e+02] [-1.62400355e-01 9.86724098e-01 1.29610013e-03 -3.18083020e+01] [ 7.74034250e-03 -3.95520154e-05 9.99970042e-01 -6.36719868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.83, Y:-31.81, Z:-6.37 [[ 9.86520520e-01 1.63438138e-01 -8.07699864e-03 2.63832622e+02] [-1.63432411e-01 9.86553584e-01 1.36859423e-03 -3.18132380e+01] [ 8.19207245e-03 -3.01029304e-05 9.99966444e-01 -6.37221118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:263.86, Y:-31.82, Z:-6.37 [[ 9.86386902e-01 1.64231863e-01 -8.29306615e-03 2.63862821e+02] [-1.64225858e-01 9.86421763e-01 1.40462001e-03 -3.18185458e+01] [ 8.41114429e-03 -2.35628774e-05 9.99964625e-01 -6.37250058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60420382200004 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:263.89, Y:-31.82, Z:-6.37 [[ 9.86276829e-01 1.64931464e-01 -7.45846383e-03 2.63893131e+02] [-1.64926621e-01 9.86305030e-01 1.26402347e-03 -3.18242572e+01] [ 7.56479764e-03 -1.65778291e-05 9.99971386e-01 -6.37406083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:263.92, Y:-31.83, Z:-6.37 [[ 9.86358027e-01 1.64448063e-01 -7.39437691e-03 2.63923592e+02] [-1.64443288e-01 9.86385743e-01 1.25337011e-03 -3.18306581e+01] [ 7.49982225e-03 -2.03160141e-05 9.99971876e-01 -6.37431290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.95, Y:-31.84, Z:-6.37 [[ 9.86425778e-01 1.64068643e-01 -6.75760168e-03 2.63953316e+02] [-1.64064616e-01 9.86448924e-01 1.14983185e-03 -3.18391114e+01] [ 6.85468025e-03 -2.55404515e-05 9.99976506e-01 -6.37476550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.98, Y:-31.85, Z:-6.37 [[ 9.86365949e-01 1.64441818e-01 -6.41116055e-03 2.63984634e+02] [-1.64438190e-01 9.86386784e-01 1.09248421e-03 -3.18454517e+01] [ 6.50353413e-03 -2.33495864e-05 9.99978852e-01 -6.37032620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.02, Y:-31.85, Z:-6.37 [[ 9.85991076e-01 1.66725240e-01 -4.92869869e-03 2.64015831e+02] [-1.66723137e-01 9.86003395e-01 8.37449215e-04 -3.18510047e+01] [ 4.99933756e-03 -3.98934636e-06 9.99987503e-01 -6.37447253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.05, Y:-31.86, Z:-6.37 [[ 9.85751178e-01 1.68138116e-01 -4.91821049e-03 2.64046873e+02] [-1.68136016e-01 9.85763447e-01 8.40317398e-04 -3.18570230e+01] [ 4.98948151e-03 -1.41554732e-06 9.99987552e-01 -6.37326887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:264.08, Y:-31.86, Z:-6.38 [[ 9.85251181e-01 1.71053672e-01 -4.55535110e-03 2.64078243e+02] [-1.71051897e-01 9.85261712e-01 7.79310114e-04 -3.18633654e+01] [ 4.62151688e-03 1.13852384e-05 9.99989321e-01 -6.37557850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.11, Y:-31.87, Z:-6.37 [[ 9.85074819e-01 1.72085423e-01 -3.76932962e-03 2.64109737e+02] [-1.72084208e-01 9.85082031e-01 6.46566165e-04 -3.18700985e+01] [ 3.82436349e-03 1.17260558e-05 9.99992687e-01 -6.37190709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.14, Y:-31.88, Z:-6.37 [[ 9.84892211e-01 1.73133739e-01 -3.47012587e-03 2.64142525e+02] [-1.73132712e-01 9.84898324e-01 5.96385939e-04 -3.18767563e+01] [ 3.52097568e-03 1.34164369e-05 9.99993801e-01 -6.37189557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.17, Y:-31.88, Z:-6.37 [[ 9.84780878e-01 1.73741385e-01 -4.53352280e-03 2.64174014e+02] [-1.73739643e-01 9.84791313e-01 7.78294626e-04 -3.18837628e+01] [ 4.59979586e-03 2.12029693e-05 9.99989421e-01 -6.37233806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:264.21, Y:-31.89, Z:-6.38 [[ 9.84702697e-01 1.74199348e-01 -3.89683868e-03 2.64206542e+02] [-1.74198057e-01 9.84710408e-01 6.70816939e-04 -3.18888368e+01] [ 3.95411348e-03 1.82664794e-05 9.99992182e-01 -6.37760839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.24, Y:-31.89, Z:-6.37 [[ 9.84667051e-01 1.74408584e-01 -3.52772205e-03 2.64238237e+02] [-1.74407524e-01 9.84673370e-01 6.08079892e-04 -3.18945233e+01] [ 3.57970831e-03 1.65050347e-05 9.99993593e-01 -6.37355590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.27, Y:-31.90, Z:-6.38 [[ 9.84471378e-01 1.75534407e-01 -1.94357517e-03 2.64270857e+02] [-1.75534083e-01 9.84473297e-01 3.37709090e-04 -3.19013685e+01] [ 1.97267742e-03 8.69875150e-06 9.99998054e-01 -6.37857732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.30, Y:-31.91, Z:-6.38 [[ 9.84319334e-01 1.76393233e-01 -9.35791813e-04 2.64301930e+02] [-1.76393156e-01 9.84319779e-01 1.64893886e-04 -3.19072615e+01] [ 9.50204556e-04 2.75903099e-06 9.99999549e-01 -6.37830983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.33, Y:-31.91, Z:-6.38 [[ 9.83946098e-01 1.78465608e-01 3.20013404e-04 2.64333598e+02] [-1.78465601e-01 9.83946150e-01 -5.07520174e-05 -3.19116441e+01] [-3.23933447e-04 -7.17413492e-06 9.99999948e-01 -6.37560396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:-31.92, Z:-6.38 [[ 9.83801301e-01 1.79261667e-01 -5.05163187e-04 2.64365874e+02] [-1.79261644e-01 9.83801431e-01 9.15180561e-05 -3.19173261e+01] [ 5.13385945e-04 5.20800579e-07 9.99999868e-01 -6.37667913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.40, Y:-31.92, Z:-6.38 [[ 9.83538519e-01 1.80684519e-01 -2.25531688e-03 2.64397660e+02] [-1.80684097e-01 9.83541104e-01 3.90940155e-04 -3.19222233e+01] [ 2.28883369e-03 2.29951935e-05 9.99997380e-01 -6.37775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.43, Y:-31.93, Z:-6.38 [[ 9.83215016e-01 1.82408072e-01 -3.94041625e-03 2.64429379e+02] [-1.82406806e-01 9.83222911e-01 6.81308147e-04 -3.19281226e+01] [ 3.99858364e-03 4.88863412e-05 9.99992004e-01 -6.37886373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14420382200007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.46, Y:-31.93, Z:-6.38 [[ 9.83019220e-01 1.83448739e-01 -4.44665439e-03 2.64461459e+02] [-1.83447126e-01 9.83029276e-01 7.71335622e-04 -3.19334032e+01] [ 4.51269200e-03 5.74882292e-05 9.99989816e-01 -6.38368837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.49, Y:-31.94, Z:-6.38 [[ 9.82759695e-01 1.84836497e-01 -4.34170053e-03 2.64493423e+02] [-1.84834971e-01 9.82769284e-01 7.53746504e-04 -3.19377748e+01] [ 4.40620979e-03 6.17464060e-05 9.99990291e-01 -6.37954220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.52, Y:-31.94, Z:-6.38 [[ 9.82260328e-01 1.87496393e-01 -3.12243050e-03 2.64524531e+02] [-1.87495625e-01 9.82265290e-01 5.39536107e-04 -3.19393974e+01] [ 3.16821617e-03 5.54771450e-05 9.99994980e-01 -6.38354469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.56, Y:-31.94, Z:-6.38 [[ 9.82103610e-01 1.88319937e-01 -2.84601921e-03 2.64555266e+02] [-1.88319302e-01 9.82107733e-01 4.91892157e-04 -3.19434427e+01] [ 2.88773058e-03 5.28712875e-05 9.99995829e-01 -6.37999289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.59, Y:-31.95, Z:-6.38 [[ 9.82096850e-01 1.88355193e-01 -2.84595477e-03 2.64586617e+02] [-1.88354557e-01 9.82100972e-01 4.92265316e-04 -3.19489053e+01] [ 2.88773568e-03 5.25963353e-05 9.99995829e-01 -6.38072575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.62, Y:-31.95, Z:-6.38 [[ 9.81816863e-01 1.89819515e-01 -2.04918617e-03 2.64617563e+02] [-1.89819189e-01 9.81819001e-01 3.54147646e-04 -3.19493956e+01] [ 2.07915405e-03 4.12667249e-05 9.99997838e-01 -6.38173318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.65, Y:-31.95, Z:-6.38 [[ 9.81788957e-01 1.89958299e-01 -2.50755047e-03 2.64648103e+02] [-1.89957812e-01 9.81792158e-01 4.33023414e-04 -3.19516738e+01] [ 2.54414978e-03 5.11911943e-05 9.99996762e-01 -6.38232342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.68, Y:-31.95, Z:-6.38 [[ 9.81890386e-01 1.89422717e-01 -3.21002495e-03 2.64679517e+02] [-1.89421915e-01 9.81895631e-01 5.54982940e-04 -3.19533058e+01] [ 3.25703585e-03 6.31166586e-05 9.99994694e-01 -6.38400109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.71, Y:-31.96, Z:-6.39 [[ 9.82066881e-01 1.88497095e-01 -3.67229569e-03 2.64709873e+02] [-1.88496040e-01 9.82073745e-01 6.34253036e-04 -3.19566209e+01] [ 3.72602004e-03 6.93342955e-05 9.99993056e-01 -6.38532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.74, Y:-31.96, Z:-6.39 [[ 9.82507126e-01 1.86150229e-01 -5.27629781e-03 2.64739662e+02] [-1.86148020e-01 9.82521290e-01 9.10934426e-04 -3.19586526e+01] [ 5.35364558e-03 8.71728259e-05 9.99985665e-01 -6.38639886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.77, Y:-31.96, Z:-6.39 [[ 9.82829810e-01 1.84418536e-01 -5.94703245e-03 2.64767848e+02] [-1.84415703e-01 9.82847799e-01 1.02602987e-03 -3.19621567e+01] [ 6.03424668e-03 8.83134262e-05 9.99981790e-01 -6.38684639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.80, Y:-31.96, Z:-6.39 [[ 9.83577725e-01 1.80389094e-01 -5.88497976e-03 2.64797955e+02] [-1.80386243e-01 9.83595329e-01 1.01612767e-03 -3.19649615e+01] [ 5.97173695e-03 6.21288490e-05 9.99982167e-01 -6.38697902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.83, Y:-31.97, Z:-6.39 [[ 9.83944350e-01 1.78381785e-01 -5.78400778e-03 2.64827445e+02] [-1.78378998e-01 9.83961349e-01 9.98326923e-04 -3.19690609e+01] [ 5.86932343e-03 4.94473754e-05 9.99982774e-01 -6.38787624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:264.86, Y:-31.97, Z:-6.39 [[ 9.84248192e-01 1.76675324e-01 -6.42848301e-03 2.64857167e+02] [-1.76671843e-01 9.84269185e-01 1.10988866e-03 -3.19728350e+01] [ 6.52344767e-03 4.33260358e-05 9.99978721e-01 -6.39311973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.89, Y:-31.98, Z:-6.39 [[ 9.84713706e-01 1.74060303e-01 -6.47517702e-03 2.64887011e+02] [-1.74056719e-01 9.84734995e-01 1.11720475e-03 -3.19772760e+01] [ 6.57079441e-03 2.69212436e-05 9.99978412e-01 -6.38938180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.92, Y:-31.98, Z:-6.39 [[ 9.84799193e-01 1.73601567e-01 -5.74843726e-03 2.64915585e+02] [-1.73598739e-01 9.84815970e-01 9.91242550e-04 -3.19817579e+01] [ 5.83323408e-03 2.17465963e-05 9.99982986e-01 -6.39422719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.94, Y:-31.99, Z:-6.39 [[ 9.84751720e-01 1.73869093e-01 -5.79555312e-03 2.64943459e+02] [-1.73866224e-01 9.84768774e-01 9.99197224e-04 -3.19865496e+01] [ 5.88100926e-03 2.36897505e-05 9.99982706e-01 -6.39024905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.97, Y:-31.99, Z:-6.39 [[ 9.84624922e-01 1.74576997e-01 -6.05270563e-03 2.64972461e+02] [-1.74573880e-01 9.84643525e-01 1.04367498e-03 -3.19908848e+01] [ 6.14195905e-03 2.90159123e-05 9.99981138e-01 -6.39075592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68420382200003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.00, Y:-31.99, Z:-6.40 [[ 9.84153797e-01 1.77191775e-01 -6.66167738e-03 2.65001930e+02] [-1.77188060e-01 9.84176342e-01 1.14856203e-03 -3.19949092e+01] [ 6.75978102e-03 5.00080031e-05 9.99977151e-01 -6.39588447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:-32.00, Z:-6.39 [[ 9.83967500e-01 1.78234731e-01 -6.35135963e-03 2.65031686e+02] [-1.78231376e-01 9.83987997e-01 1.09487052e-03 -3.19993910e+01] [ 6.44480559e-03 5.46945650e-05 9.99979231e-01 -6.39195366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:-32.00, Z:-6.39 [[ 9.83438220e-01 1.81114209e-01 -6.84918061e-03 2.65061429e+02] [-1.81110379e-01 9.83462067e-01 1.18054953e-03 -3.20019371e+01] [ 6.94972362e-03 7.94601702e-05 9.99975847e-01 -6.39322186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.09, Y:-32.01, Z:-6.39 [[ 9.83232974e-01 1.82193799e-01 -7.63800247e-03 2.65091105e+02] [-1.82189070e-01 9.83262635e-01 1.31637502e-03 -3.20062937e+01] [ 7.74999780e-03 9.72572429e-05 9.99969964e-01 -6.39398622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:-32.01, Z:-6.39 [[ 9.83010086e-01 1.83396170e-01 -7.55089266e-03 2.65119354e+02] [-1.83391585e-01 9.83039080e-01 1.30114534e-03 -3.20093302e+01] [ 7.66144765e-03 1.05731182e-04 9.99970645e-01 -6.39433244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.15, Y:-32.01, Z:-6.40 [[ 9.82981578e-01 1.83569957e-01 -7.02061337e-03 2.65148217e+02] [-1.83566004e-01 9.83006643e-01 1.20886242e-03 -3.20134880e+01] [ 7.12322040e-03 1.00456458e-04 9.99974624e-01 -6.39919182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:-32.02, Z:-6.40 [[ 9.82812573e-01 1.84418997e-01 -8.31143489e-03 2.65176953e+02] [-1.84413482e-01 9.82847708e-01 1.43166399e-03 -3.20195735e+01] [ 8.43290077e-03 1.25683283e-04 9.99964435e-01 -6.39523190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.21, Y:-32.02, Z:-6.40 [[ 9.82734810e-01 1.84802021e-01 -8.97258039e-03 2.65205581e+02] [-1.84795619e-01 9.82775760e-01 1.54456278e-03 -3.20230847e+01] [ 9.10347284e-03 1.40197938e-04 9.99958553e-01 -6.39939873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:-32.03, Z:-6.40 [[ 9.82767497e-01 1.84712204e-01 -7.03198347e-03 2.65234004e+02] [-1.84708276e-01 9.82792648e-01 1.20953552e-03 -3.20252183e+01] [ 7.13439763e-03 1.10173353e-04 9.99974544e-01 -6.39655196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95420382200007 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:265.26, Y:-32.03, Z:-6.40 [[ 9.82880847e-01 1.84136189e-01 -6.25336032e-03 2.65262486e+02] [-1.84133073e-01 9.82900735e-01 1.07543108e-03 -3.20287677e+01] [ 6.34445823e-03 9.44298432e-05 9.99979869e-01 -6.40207616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:-32.04, Z:-6.40 [[ 9.83333740e-01 1.81694946e-01 -6.45770809e-03 2.65291342e+02] [-1.81691567e-01 9.83354941e-01 1.11100512e-03 -3.20353593e+01] [ 6.55208317e-03 8.08222852e-05 9.99978532e-01 -6.39753193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01420382200007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:265.32, Y:-32.04, Z:-6.40 [[ 9.83562790e-01 1.80457522e-01 -6.27061332e-03 2.65320602e+02] [-1.80454312e-01 9.83582776e-01 1.07863578e-03 -3.20401393e+01] [ 6.36231519e-03 7.06532004e-05 9.99979758e-01 -6.40170135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04420382200004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:265.35, Y:-32.04, Z:-6.40 [[ 9.83778092e-01 1.79282340e-01 -6.20556209e-03 2.65350184e+02] [-1.79279175e-01 9.83797661e-01 1.06728226e-03 -3.20445457e+01] [ 6.29636233e-03 6.25591442e-05 9.99980176e-01 -6.40243806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:265.38, Y:-32.05, Z:-6.40 [[ 9.84014851e-01 1.77911465e-01 -7.89196517e-03 2.65379316e+02] [-1.77906301e-01 9.84046496e-01 1.35726515e-03 -3.20480246e+01] [ 8.00753370e-03 6.84612603e-05 9.99967937e-01 -6.40312285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.41, Y:-32.05, Z:-6.40 [[ 9.84148012e-01 1.77184843e-01 -7.63031732e-03 2.65407432e+02] [-1.77180005e-01 9.84177589e-01 1.31087469e-03 -3.20511290e+01] [ 7.74185443e-03 6.18449432e-05 9.99970029e-01 -6.40408722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134203822 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:265.44, Y:-32.06, Z:-6.41 [[ 9.84278658e-01 1.76435154e-01 -8.13382514e-03 2.65436164e+02] [-1.76429630e-01 9.84312264e-01 1.39734434e-03 -3.20550831e+01] [ 8.25276450e-03 5.96715492e-05 9.99965944e-01 -6.40522683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16420382200005 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:265.46, Y:-32.06, Z:-6.41 [[ 9.84678981e-01 1.74104316e-01 -9.74631167e-03 2.65464209e+02] [-1.74096274e-01 9.84727213e-01 1.67408801e-03 -3.20598902e+01] [ 9.88892428e-03 4.83572685e-05 9.99951102e-01 -6.40605263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:-32.07, Z:-6.40 [[ 9.84906088e-01 1.72823534e-01 -9.59289900e-03 2.65492488e+02] [-1.72815688e-01 9.84952803e-01 1.64720812e-03 -3.20654799e+01] [ 9.73322909e-03 3.54581329e-05 9.99952630e-01 -6.40199138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22420382200005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:265.52, Y:-32.07, Z:-6.41 [[ 9.85367764e-01 1.70285740e-01 -7.28951844e-03 2.65520350e+02] [-1.70281149e-01 9.85394726e-01 1.25048286e-03 -3.20691141e+01] [ 7.39599243e-03 9.08207215e-06 9.99972649e-01 -6.40556811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254203822 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:265.55, Y:-32.07, Z:-6.41 [[ 9.85441637e-01 1.69883556e-01 -6.66015118e-03 2.65549093e+02] [-1.69879714e-01 9.85464143e-01 1.14248077e-03 -3.20741226e+01] [ 6.75742887e-03 5.57645901e-06 9.99977168e-01 -6.40524856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.58, Y:-32.08, Z:-6.41 [[ 9.85487231e-01 1.69614503e-01 -6.77030424e-03 2.65578034e+02] [-1.69610524e-01 9.85510487e-01 1.16180239e-03 -3.20798977e+01] [ 6.86926436e-03 3.37343034e-06 9.99976406e-01 -6.40546391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:265.61, Y:-32.09, Z:-6.41 [[ 9.85446873e-01 1.69847507e-01 -6.80338087e-03 2.65605680e+02] [-1.69843498e-01 9.85470357e-01 1.16693886e-03 -3.20855838e+01] [ 6.90273183e-03 5.55375032e-06 9.99976176e-01 -6.40569120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:-32.09, Z:-6.40 [[ 9.85102903e-01 1.71862539e-01 -5.96131511e-03 2.65634165e+02] [-1.71859502e-01 9.85120940e-01 1.02180449e-03 -3.20923653e+01] [ 6.04822627e-03 1.79260830e-05 9.99981709e-01 -6.40192897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:-32.10, Z:-6.40 [[ 9.84861063e-01 1.73266891e-01 -5.22218632e-03 2.65662238e+02] [-1.73264580e-01 9.84874908e-01 8.95067288e-04 -3.20980400e+01] [ 5.29828580e-03 2.33030012e-05 9.99985964e-01 -6.40187744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.69, Y:-32.10, Z:-6.41 [[ 9.84188919e-01 1.77063511e-01 -4.54795214e-03 2.65690525e+02] [-1.77061802e-01 9.84199427e-01 7.78855088e-04 -3.21035573e+01] [ 4.61399870e-03 3.87280549e-05 9.99989355e-01 -6.40508070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.72, Y:-32.11, Z:-6.40 [[ 9.83794860e-01 1.79258712e-01 -3.74003840e-03 2.65719056e+02] [-1.79257572e-01 9.83801968e-01 6.40445176e-04 -3.21079597e+01] [ 3.79426251e-03 4.03635306e-05 9.99992801e-01 -6.40259469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:-32.11, Z:-6.40 [[ 9.82919918e-01 1.83970953e-01 -4.80865149e-03 2.65747507e+02] [-1.83969128e-01 9.82931678e-01 8.22823477e-04 -3.21080559e+01] [ 4.87795150e-03 7.58738386e-05 9.99988100e-01 -6.40321276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.78, Y:-32.11, Z:-6.40 [[ 9.81962293e-01 1.89004256e-01 -5.23891735e-03 2.65776995e+02] [-1.89002161e-01 9.81976262e-01 8.96555477e-04 -3.21081850e+01] [ 5.31394528e-03 1.09783028e-04 9.99985875e-01 -6.40483086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.80, Y:-32.11, Z:-6.41 [[ 9.81613540e-01 1.90819874e-01 -4.75756743e-03 2.65804733e+02] [-1.90818171e-01 9.81625063e-01 8.13486964e-04 -3.21120931e+01] [ 4.82537691e-03 1.09300497e-04 9.99988352e-01 -6.40580910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.83, Y:-32.12, Z:-6.41 [[ 9.81310536e-01 1.92376042e-01 -4.59237974e-03 2.65832141e+02] [-1.92374474e-01 9.81321275e-01 7.84946204e-04 -3.21165427e+01] [ 4.65760479e-03 1.13180656e-04 9.99989147e-01 -6.40627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.86, Y:-32.12, Z:-6.41 [[ 9.80997959e-01 1.93937569e-01 -5.58783120e-03 2.65861229e+02] [-1.93935271e-01 9.81013862e-01 9.55435609e-04 -3.21185535e+01] [ 5.66703473e-03 1.46397173e-04 9.99983932e-01 -6.40610754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.89, Y:-32.12, Z:-6.41 [[ 9.81088926e-01 1.93447359e-01 -6.52989526e-03 2.65890168e+02] [-1.93444211e-01 9.81110642e-01 1.11637219e-03 -3.21193094e+01] [ 6.62250898e-03 1.67910042e-04 9.99978057e-01 -6.40868542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:-32.12, Z:-6.41 [[ 9.81748359e-01 1.90075502e-01 -6.43924931e-03 2.65919494e+02] [-1.90072370e-01 9.81769465e-01 1.10054799e-03 -3.21182576e+01] [ 6.53104556e-03 1.43462191e-04 9.99978662e-01 -6.40844197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:-32.12, Z:-6.41 [[ 9.82267675e-01 1.87368185e-01 -6.58616575e-03 2.65948337e+02] [-1.87364850e-01 9.82289747e-01 1.12535479e-03 -3.21223109e+01] [ 6.68037877e-03 1.28616323e-04 9.99977678e-01 -6.40900728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.98, Y:-32.13, Z:-6.41 [[ 9.83528998e-01 1.80625561e-01 -6.71692074e-03 2.65975590e+02] [-1.80621939e-01 9.83551930e-01 1.14703452e-03 -3.21260650e+01] [ 6.81362412e-03 8.50815397e-05 9.99976783e-01 -6.40924748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73420382200004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:266.00, Y:-32.13, Z:-6.41 [[ 9.84188264e-01 1.76977985e-01 -7.22863885e-03 2.66003899e+02] [-1.76973691e-01 9.84214808e-01 1.23439727e-03 -3.21295961e+01] [ 7.33299454e-03 6.43995892e-05 9.99973111e-01 -6.41397253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:-32.14, Z:-6.41 [[ 9.85367843e-01 1.70259485e-01 -7.86909692e-03 2.66030730e+02] [-1.70254188e-01 9.85399263e-01 1.34308338e-03 -3.21353459e+01] [ 7.98287499e-03 1.63155330e-05 9.99968136e-01 -6.41181635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:266.06, Y:-32.14, Z:-6.42 [[ 9.85791622e-01 1.67804314e-01 -7.52259603e-03 2.66059451e+02] [-1.67799403e-01 9.85820325e-01 1.28377297e-03 -3.21394982e+01] [ 7.63135070e-03 -3.24551960e-06 9.99970881e-01 -6.41581969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:-32.14, Z:-6.41 [[ 9.86310266e-01 1.64771882e-01 -6.50284855e-03 2.66087978e+02] [-1.64768150e-01 9.86331702e-01 1.10925989e-03 -3.21440324e+01] [ 6.59674052e-03 -2.26120892e-05 9.99978241e-01 -6.41271274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.12, Y:-32.15, Z:-6.41 [[ 9.86434959e-01 1.63974410e-01 -7.64619394e-03 2.66116672e+02] [-1.63969227e-01 9.86464592e-01 1.30411046e-03 -3.21487353e+01] [ 7.75654033e-03 -3.26796376e-05 9.99969917e-01 -6.41494769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:-32.15, Z:-6.41 [[ 9.86444723e-01 1.63901540e-01 -7.94311221e-03 2.66145475e+02] [-1.63895948e-01 9.86476702e-01 1.35438835e-03 -3.21539320e+01] [ 8.05768148e-03 -3.41853326e-05 9.99967536e-01 -6.41380622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91420382200005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:266.17, Y:-32.16, Z:-6.42 [[ 9.86377708e-01 1.64312627e-01 -7.77033649e-03 2.66173142e+02] [-1.64307295e-01 9.86408313e-01 1.32397387e-03 -3.21571611e+01] [ 7.88227013e-03 -2.92153431e-05 9.99968934e-01 -6.41788909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.20, Y:-32.16, Z:-6.42 [[ 9.86376659e-01 1.64268719e-01 -8.76776745e-03 2.66200079e+02] [-1.64261931e-01 9.86415626e-01 1.49370468e-03 -3.21619122e+01] [ 8.89403178e-03 -3.31450268e-05 9.99960447e-01 -6.41797435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.23, Y:-32.17, Z:-6.42 [[ 9.86482327e-01 1.63654912e-01 -8.34797173e-03 2.66228244e+02] [-1.63648738e-01 9.86517647e-01 1.42196983e-03 -3.21662609e+01] [ 8.46813377e-03 -3.66130659e-05 9.99964144e-01 -6.41586471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:-32.17, Z:-6.42 [[ 9.86559842e-01 1.63166138e-01 -8.74578071e-03 2.66256540e+02] [-1.63159346e-01 9.86598606e-01 1.48934880e-03 -3.21704419e+01] [ 8.87158635e-03 -4.23758600e-05 9.99960646e-01 -6.41695367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:266.28, Y:-32.18, Z:-6.42 [[ 9.86800987e-01 1.61681006e-01 -9.11397491e-03 2.66283814e+02] [-1.61673575e-01 9.86843072e-01 1.55124613e-03 -3.21772477e+01] [ 9.24487003e-03 -5.72823088e-05 9.99957264e-01 -6.42103647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:266.31, Y:-32.18, Z:-6.42 [[ 9.86968782e-01 1.60675722e-01 -8.71406528e-03 2.66311726e+02] [-1.60668891e-01 9.87007248e-01 1.48293213e-03 -3.21832222e+01] [ 8.83911678e-03 -6.35285165e-05 9.99960932e-01 -6.42164934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:-32.19, Z:-6.42 [[ 9.87138410e-01 1.59639691e-01 -8.53985687e-03 2.66339386e+02] [-1.59633101e-01 9.87175346e-01 1.45227404e-03 -3.21892330e+01] [ 8.66217674e-03 -7.03516489e-05 9.99962480e-01 -6.41817405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.37, Y:-32.20, Z:-6.42 [[ 9.87117230e-01 1.59775759e-01 -8.44279274e-03 2.66367574e+02] [-1.59769323e-01 9.87153333e-01 1.43570704e-03 -3.21950829e+01] [ 8.56372218e-03 -6.83118786e-05 9.99963328e-01 -6.41912827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.39, Y:-32.20, Z:-6.42 [[ 9.86807175e-01 1.61636834e-01 -9.22676618e-03 2.66394459e+02] [-1.61629236e-01 9.86850308e-01 1.56825503e-03 -3.22022144e+01] [ 9.35892482e-03 -5.62501480e-05 9.99956203e-01 -6.42226624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.42, Y:-32.21, Z:-6.42 [[ 9.86813164e-01 1.61600270e-01 -9.22672672e-03 2.66423383e+02] [-1.61592668e-01 9.86856296e-01 1.56848681e-03 -3.22070505e+01] [ 9.35892125e-03 -5.68320474e-05 9.99956203e-01 -6.42294140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.45, Y:-32.21, Z:-6.42 [[ 9.86621373e-01 1.62798329e-01 -8.65860596e-03 2.66450764e+02] [-1.62791690e-01 9.86659365e-01 1.47074063e-03 -3.22125791e+01] [ 8.78252878e-03 -4.15150411e-05 9.99961432e-01 -6.42082847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:-32.22, Z:-6.42 [[ 9.86083577e-01 1.66038739e-01 -8.38551191e-03 2.66478860e+02] [-1.66032632e-01 9.86119231e-01 1.42417436e-03 -3.22179250e+01] [ 8.50558267e-03 -1.20863378e-05 9.99963827e-01 -6.42137461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:-32.22, Z:-6.42 [[ 9.85855500e-01 1.67428330e-01 -7.52911938e-03 2.66506646e+02] [-1.67423454e-01 9.85884250e-01 1.27785210e-03 -3.22228679e+01] [ 7.63678885e-03 7.73653044e-07 9.99970839e-01 -6.42247615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.53, Y:-32.23, Z:-6.42 [[ 9.85393803e-01 1.70078281e-01 -8.51062863e-03 2.66534719e+02] [-1.70072148e-01 9.85430554e-01 1.44451613e-03 -3.22296677e+01] [ 8.63231431e-03 2.40036539e-05 9.99962741e-01 -6.42322956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33420382200006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:266.56, Y:-32.24, Z:-6.43 [[ 9.85171571e-01 1.71310897e-01 -9.46317841e-03 2.66563328e+02] [-1.71303375e-01 9.85217019e-01 1.60577867e-03 -3.22353351e+01] [ 9.59837181e-03 3.91069063e-05 9.99953934e-01 -6.42668272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.59, Y:-32.24, Z:-6.43 [[ 9.84840977e-01 1.73178203e-01 -9.87720979e-03 2.66590817e+02] [-1.73170111e-01 9.84890505e-01 1.67517224e-03 -3.22403436e+01] [ 1.00180735e-02 6.06592468e-05 9.99949816e-01 -6.42550060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:-32.24, Z:-6.43 [[ 9.84646806e-01 1.74230417e-01 -1.06971262e-02 2.66619184e+02] [-1.74220990e-01 9.84704908e-01 1.81411623e-03 -3.22446964e+01] [ 1.08495869e-02 7.74001545e-05 9.99941139e-01 -6.42662652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42420382200004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:266.65, Y:-32.25, Z:-6.43 [[ 9.84339499e-01 1.75897800e-01 -1.16496214e-02 2.66647829e+02] [-1.75886742e-01 9.84408428e-01 1.97515813e-03 -3.22497339e+01] [ 1.18154115e-02 1.04787780e-04 9.99930190e-01 -6.43039993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:-32.26, Z:-6.43 [[ 9.83906545e-01 1.78337784e-01 -1.11151483e-02 2.66676168e+02] [-1.78327879e-01 9.83969318e-01 1.88389608e-03 -3.22561181e+01] [ 1.12729348e-02 1.28563145e-04 9.99936450e-01 -6.42852871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:-32.26, Z:-6.43 [[ 9.83569187e-01 1.80200224e-01 -1.09331864e-02 2.66703815e+02] [-1.80190768e-01 9.83629939e-01 1.85205462e-03 -3.22620247e+01] [ 1.10879501e-02 1.48435389e-04 9.99938516e-01 -6.42930046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.73, Y:-32.27, Z:-6.43 [[ 9.83363493e-01 1.81281271e-01 -1.15473795e-02 2.66731699e+02] [-1.81270799e-01 9.83431275e-01 1.95588451e-03 -3.22667814e+01] [ 1.17106194e-02 1.69857282e-04 9.99931414e-01 -6.43302398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54420382200004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:266.76, Y:-32.27, Z:-6.44 [[ 9.82983336e-01 1.83334554e-01 -1.14979456e-02 2.66760723e+02] [-1.83324319e-01 9.83050560e-01 1.94692522e-03 -3.22698315e+01] [ 1.16600006e-02 1.94058007e-04 9.99932001e-01 -6.43528338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:-32.27, Z:-6.43 [[ 9.82887655e-01 1.83881106e-01 -1.09360570e-02 2.66787975e+02] [-1.83871892e-01 9.82948474e-01 1.85075439e-03 -3.22744506e+01] [ 1.10898993e-02 1.91749845e-04 9.99938487e-01 -6.43178205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:-32.28, Z:-6.43 [[ 9.82907918e-01 1.83785901e-01 -1.07129255e-02 2.66816467e+02] [-1.83777056e-01 9.82966280e-01 1.81271106e-03 -3.22806424e+01] [ 1.08635953e-02 1.87061850e-04 9.99940972e-01 -6.43265903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:-32.29, Z:-6.43 [[ 9.83208317e-01 1.82285331e-01 -8.57107830e-03 2.66844828e+02] [-1.82279618e-01 9.83245666e-01 1.44963797e-03 -3.22886287e+01] [ 8.69172333e-03 1.37036770e-04 9.99962217e-01 -6.43210959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:-32.30, Z:-6.43 [[ 9.83346970e-01 1.81578050e-01 -7.62547906e-03 2.66873408e+02] [-1.81573511e-01 9.83376529e-01 1.28918250e-03 -3.22950299e+01] [ 7.73280438e-03 1.16871304e-04 9.99970095e-01 -6.43164098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.90, Y:-32.30, Z:-6.43 [[ 9.83524392e-01 1.80685217e-01 -5.71169601e-03 2.66900650e+02] [-1.80682661e-01 9.83540973e-01 9.64701813e-04 -3.22983759e+01] [ 5.79199441e-03 8.31966706e-05 9.99983223e-01 -6.43315090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.93, Y:-32.30, Z:-6.43 [[ 9.83560296e-01 1.80535506e-01 -4.00943422e-03 2.66929560e+02] [-1.80534246e-01 9.83568466e-01 6.76861400e-04 -3.23025598e+01] [ 4.06575058e-03 5.81061857e-05 9.99991733e-01 -6.43093795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:-32.31, Z:-6.43 [[ 9.83613185e-01 1.80272353e-01 -2.64230245e-03 2.66957672e+02] [-1.80271806e-01 9.83616733e-01 4.45547361e-04 -3.23063466e+01] [ 2.67933277e-03 3.80863772e-05 9.99996410e-01 -6.43129485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:-32.31, Z:-6.43 [[ 9.83631484e-01 1.80170066e-01 -2.80203233e-03 2.66986527e+02] [-1.80169450e-01 9.83635474e-01 4.72736335e-04 -3.23104390e+01] [ 2.84135133e-03 3.98422821e-05 9.99995963e-01 -6.43234555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:-32.32, Z:-6.43 [[ 9.83624405e-01 1.80204414e-01 -3.06594126e-03 2.67014526e+02] [-1.80203677e-01 9.83629182e-01 5.17247103e-04 -3.23152428e+01] [ 3.10895950e-03 4.37170154e-05 9.99995166e-01 -6.43334144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.04, Y:-32.32, Z:-6.43 [[ 9.83830086e-01 1.79069005e-01 -3.55708079e-03 2.67043347e+02] [-1.79068005e-01 9.83836515e-01 6.00416790e-04 -3.23211352e+01] [ 3.60710200e-03 4.62512564e-05 9.99993493e-01 -6.43412212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:-32.32, Z:-6.44 [[ 9.84229179e-01 1.76846173e-01 -4.28424770e-03 2.67072427e+02] [-1.76844700e-01 9.84238502e-01 7.23164869e-04 -3.23241623e+01] [ 4.34461048e-03 4.58865351e-05 9.99990561e-01 -6.43555115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-32.33, Z:-6.44 [[ 9.84473520e-01 1.75461093e-01 -5.02923940e-03 2.67100780e+02] [-1.75459047e-01 9.84486365e-01 8.48547585e-04 -3.23270888e+01] [ 5.10010470e-03 4.70529253e-05 9.99986993e-01 -6.43664606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:-32.33, Z:-6.44 [[ 9.85063210e-01 1.72131637e-01 -4.60133811e-03 2.67129561e+02] [-1.72129891e-01 9.85073956e-01 7.75805634e-04 -3.23292736e+01] [ 4.66619903e-03 2.78102388e-05 9.99989113e-01 -6.43747273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.16, Y:-32.33, Z:-6.44 [[ 9.85380692e-01 1.70304137e-01 -4.62522255e-03 2.67158017e+02] [-1.70302353e-01 9.85391547e-01 7.79599064e-04 -3.23337303e+01] [ 4.69042415e-03 1.94844185e-05 9.99989000e-01 -6.43812134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:-32.34, Z:-6.44 [[ 9.85718840e-01 1.68316036e-01 -5.29904888e-03 2.67187032e+02] [-1.68313663e-01 9.85733084e-01 8.93746655e-04 -3.23386590e+01] [ 5.37387969e-03 1.09194125e-05 9.99985561e-01 -6.43886599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:-32.34, Z:-6.44 [[ 9.86247236e-01 1.65153881e-01 -6.37071135e-03 2.67216154e+02] [-1.65150386e-01 9.86267811e-01 1.07444423e-03 -3.23435087e+01] [ 6.46067617e-03 -7.54221362e-06 9.99979130e-01 -6.43874745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:-32.35, Z:-6.44 [[ 9.86450258e-01 1.63938109e-01 -6.33920947e-03 2.67243406e+02] [-1.63934631e-01 9.86470626e-01 1.06788408e-03 -3.23462731e+01] [ 6.42851084e-03 -1.41985579e-05 9.99979337e-01 -6.43960269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.27, Y:-32.35, Z:-6.44 [[ 9.86439815e-01 1.64002760e-01 -6.29170167e-03 2.67272412e+02] [-1.63999336e-01 9.86459880e-01 1.05984038e-03 -3.23496779e+01] [ 6.38032802e-03 -1.36338556e-05 9.99979645e-01 -6.43993921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:-32.35, Z:-6.44 [[ 9.86226110e-01 1.65348762e-01 -4.22456498e-03 2.67301302e+02] [-1.65347233e-01 9.86235158e-01 7.11029205e-04 -3.23527672e+01] [ 4.28398230e-03 -2.71543590e-06 9.99990824e-01 -6.43917683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:-32.36, Z:-6.44 [[ 9.86087538e-01 1.66198539e-01 -3.06795033e-03 2.67329119e+02] [-1.66197739e-01 9.86092311e-01 5.15580800e-04 -3.23575587e+01] [ 3.11097100e-03 1.47860670e-06 9.99995161e-01 -6.43994847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.36, Y:-32.36, Z:-6.44 [[ 9.85794532e-01 1.67925899e-01 -3.16752243e-03 2.67357304e+02] [-1.67925054e-01 9.85799621e-01 5.32475493e-04 -3.23617384e+01] [ 3.21195883e-03 6.99494666e-06 9.99994842e-01 -6.44016074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382200007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:267.38, Y:-32.36, Z:-6.44 [[ 9.85533311e-01 1.69448609e-01 -3.35574588e-03 2.67384997e+02] [-1.69447672e-01 9.85539024e-01 5.63698858e-04 -3.23639137e+01] [ 3.40273651e-03 1.30793247e-05 9.99994211e-01 -6.44432264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.41, Y:-32.37, Z:-6.44 [[ 9.84974120e-01 1.72674826e-01 -3.06378657e-03 2.67413178e+02] [-1.72674062e-01 9.84978885e-01 5.14254600e-04 -3.23669578e+01] [ 3.10656390e-03 2.25090002e-05 9.99995174e-01 -6.44245690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:-32.37, Z:-6.44 [[ 9.84585973e-01 1.74866852e-01 -3.47077823e-03 2.67441979e+02] [-1.74865883e-01 9.84592090e-01 5.82969556e-04 -3.23708625e+01] [ 3.51924285e-03 3.29370543e-05 9.99993807e-01 -6.44297129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:-32.37, Z:-6.44 [[ 9.84161354e-01 1.77223071e-01 -4.29086006e-03 2.67470552e+02] [-1.77221613e-01 9.84170707e-01 7.20736409e-04 -3.23740143e+01] [ 4.35066990e-03 5.11122196e-05 9.99990534e-01 -6.44295515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:-32.38, Z:-6.44 [[ 9.83228651e-01 1.82334127e-01 -3.96062218e-03 2.67498291e+02] [-1.82332929e-01 9.83236625e-01 6.64653645e-04 -3.23760905e+01] [ 4.01541783e-03 6.86453363e-05 9.99991936e-01 -6.44373722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:-32.38, Z:-6.44 [[ 9.82411259e-01 1.86690445e-01 -3.84662526e-03 2.67526081e+02] [-1.86689349e-01 9.82418786e-01 6.45004991e-04 -3.23771181e+01] [ 3.89941318e-03 8.44638010e-05 9.99992394e-01 -6.44359352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:-32.38, Z:-6.44 [[ 9.82121598e-01 1.88209416e-01 -3.79248101e-03 2.67554746e+02] [-1.88208364e-01 9.82128916e-01 6.35588295e-04 -3.23783401e+01] [ 3.84432896e-03 8.95516545e-05 9.99992607e-01 -6.44447886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:267.58, Y:-32.38, Z:-6.45 [[ 9.81951801e-01 1.89104257e-01 -3.20003709e-03 2.67583806e+02] [-1.89103512e-01 9.81957012e-01 5.36393562e-04 -3.23789562e+01] [ 3.24373317e-03 7.84256286e-05 9.99994736e-01 -6.44913100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.61, Y:-32.38, Z:-6.45 [[ 9.82039265e-01 1.88652301e-01 -3.03168811e-03 2.67612164e+02] [-1.88651632e-01 9.82043942e-01 5.07512308e-04 -3.23797470e+01] [ 3.07299431e-03 7.35358971e-05 9.99995276e-01 -6.44668384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.64, Y:-32.38, Z:-6.45 [[ 9.82524392e-01 1.86083175e-01 -4.34409725e-03 2.67639875e+02] [-1.86081776e-01 9.82533991e-01 7.27470882e-04 -3.23807058e+01] [ 4.40359330e-03 9.35994470e-05 9.99990300e-01 -6.44828806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:-32.38, Z:-6.45 [[ 9.82850935e-01 1.84356828e-01 -4.07424512e-03 2.67666617e+02] [-1.84355586e-01 9.82859376e-01 6.81568967e-04 -3.23842158e+01] [ 4.13006191e-03 8.12291513e-05 9.99991468e-01 -6.44946727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53420382200005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:267.69, Y:-32.39, Z:-6.45 [[ 9.83242422e-01 1.82252479e-01 -4.28649398e-03 2.67694757e+02] [-1.82251084e-01 9.83251762e-01 7.17144263e-04 -3.23869268e+01] [ 4.34540408e-03 7.60915116e-05 9.99990556e-01 -6.45361008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.72, Y:-32.39, Z:-6.45 [[ 9.84091426e-01 1.77590688e-01 -5.06098235e-03 2.67721495e+02] [-1.77588684e-01 9.84104437e-01 8.46325738e-04 -3.23891812e+01] [ 5.13083475e-03 6.59112922e-05 9.99986835e-01 -6.45190935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.75, Y:-32.39, Z:-6.45 [[ 9.84843309e-01 1.73323314e-01 -6.53337793e-03 2.67750355e+02] [-1.73319878e-01 9.84864978e-01 1.09277683e-03 -3.23885225e+01] [ 6.62389882e-03 5.61503202e-05 9.99978060e-01 -6.45301341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.78, Y:-32.39, Z:-6.45 [[ 9.85032645e-01 1.72221173e-01 -7.11021095e-03 2.67777805e+02] [-1.72217086e-01 9.85058305e-01 1.18775989e-03 -3.23908189e+01] [ 7.20852975e-03 5.45175462e-05 9.99974017e-01 -6.45407522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:-32.39, Z:-6.45 [[ 9.85152597e-01 1.71529717e-01 -7.20534379e-03 2.67806088e+02] [-1.71525499e-01 9.85178945e-01 1.20397678e-03 -3.23938253e+01] [ 7.30507079e-03 4.97993317e-05 9.99973316e-01 -6.45459831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:-32.40, Z:-6.45 [[ 9.85128817e-01 1.71677771e-01 -6.92509263e-03 2.67832978e+02] [-1.71673885e-01 9.85153156e-01 1.15618757e-03 -3.23954546e+01] [ 7.02076857e-03 4.98638575e-05 9.99975353e-01 -6.45475792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:-32.40, Z:-6.46 [[ 9.85119238e-01 1.71739492e-01 -6.75525247e-03 2.67860902e+02] [-1.71735797e-01 9.85142398e-01 1.12771919e-03 -3.23981306e+01] [ 6.84855954e-03 4.91807923e-05 9.99976547e-01 -6.45521762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:-32.40, Z:-6.46 [[ 9.85060767e-01 1.72130673e-01 -5.12998644e-03 2.67889066e+02] [-1.72128552e-01 9.85074124e-01 8.55484930e-04 -3.23980038e+01] [ 5.20067210e-03 4.03124979e-05 9.99986476e-01 -6.45513801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:-32.40, Z:-6.45 [[ 9.85079490e-01 1.72038447e-01 -4.60130950e-03 2.67916234e+02] [-1.72036743e-01 9.85090235e-01 7.66460797e-04 -3.23991636e+01] [ 4.66456578e-03 3.65694904e-05 9.99989120e-01 -6.45494546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.95, Y:-32.40, Z:-6.46 [[ 9.85393837e-01 1.70224629e-01 -4.74984118e-03 2.67945296e+02] [-1.70222792e-01 9.85405285e-01 7.91269428e-04 -3.23979250e+01] [ 4.81521215e-03 2.88192089e-05 9.99988406e-01 -6.45594290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.97, Y:-32.40, Z:-6.46 [[ 9.85756605e-01 1.68114042e-01 -4.64589698e-03 2.67972807e+02] [-1.68112265e-01 9.85767553e-01 7.73254768e-04 -3.23994541e+01] [ 4.70976948e-03 1.87912696e-05 9.99988909e-01 -6.45937936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:-32.40, Z:-6.46 [[ 9.86751674e-01 1.62200208e-01 -3.49668052e-03 2.68001060e+02] [-1.62199166e-01 9.86757869e-01 5.81521942e-04 -3.24020473e+01] [ 3.54470000e-03 -6.65908508e-06 9.99993718e-01 -6.45823329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:-32.41, Z:-6.46 [[ 9.87234678e-01 1.59231525e-01 -3.60718375e-03 2.68028221e+02] [-1.59230397e-01 9.87241268e-01 5.99614979e-04 -3.24062686e+01] [ 3.65663826e-03 -1.75874003e-05 9.99993314e-01 -6.45914728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:268.06, Y:-32.41, Z:-6.46 [[ 9.87911188e-01 1.54985917e-01 -3.29407141e-03 2.68056542e+02] [-1.54984954e-01 9.87916679e-01 5.47159106e-04 -3.24085524e+01] [ 3.33907004e-03 -3.00130982e-05 9.99994425e-01 -6.46127645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:-32.41, Z:-6.46 [[ 9.88145394e-01 1.53480205e-01 -3.53644729e-03 2.68083137e+02] [-1.53479087e-01 9.88151722e-01 5.86970816e-04 -3.24116951e+01] [ 3.58463488e-03 -3.72418078e-05 9.99993574e-01 -6.45984152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:-32.41, Z:-6.46 [[ 9.88368191e-01 1.51992614e-01 -5.15410719e-03 2.68110633e+02] [-1.51990215e-01 9.88381627e-01 8.56276764e-04 -3.24145754e+01] [ 5.22437260e-03 -6.29428547e-05 9.99986351e-01 -6.46032649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.14, Y:-32.42, Z:-6.46 [[ 9.88427481e-01 1.51610501e-01 -5.03693440e-03 2.68137956e+02] [-1.51608208e-01 9.88440313e-01 8.36365074e-04 -3.24177783e+01] [ 5.10551074e-03 -6.30456269e-05 9.99986965e-01 -6.46251891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:268.17, Y:-32.42, Z:-6.46 [[ 9.88457759e-01 1.51435096e-01 -4.32103666e-03 2.68166483e+02] [-1.51433409e-01 9.88467202e-01 7.16880240e-04 -3.24194602e+01] [ 4.37976384e-03 -5.42565242e-05 9.99990407e-01 -6.46317959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0742038220001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:268.19, Y:-32.42, Z:-6.46 [[ 9.88467276e-01 1.51372959e-01 -4.32103429e-03 2.68194605e+02] [-1.51371271e-01 9.88476719e-01 7.16894140e-04 -3.24240111e+01] [ 4.37976019e-03 -5.45459450e-05 9.99990407e-01 -6.46383557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:-32.43, Z:-6.46 [[ 9.88485628e-01 1.51274201e-01 -3.50425826e-03 2.68221698e+02] [-1.51273094e-01 9.88491838e-01 5.80216483e-04 -3.24272584e+01] [ 3.55170248e-03 -4.34356651e-05 9.99993692e-01 -6.46165618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:-32.43, Z:-6.46 [[ 9.88454310e-01 1.51512407e-01 -1.43759213e-03 2.68249265e+02] [-1.51512222e-01 9.88455356e-01 2.37052716e-04 -3.24320983e+01] [ 1.45691207e-03 -1.65030004e-05 9.99998939e-01 -6.46200537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:268.28, Y:-32.44, Z:-6.46 [[ 9.88344405e-01 1.52221682e-01 -1.97420807e-03 2.68277074e+02] [-1.52221334e-01 9.88346376e-01 3.26026805e-04 -3.24379825e+01] [ 2.00082974e-03 -2.17101827e-05 9.99997998e-01 -6.46433188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:-32.44, Z:-6.46 [[ 9.88282467e-01 1.52614220e-01 -2.58185442e-03 2.68304330e+02] [-1.52613626e-01 9.88285839e-01 4.26711901e-04 -3.24422971e+01] [ 2.61673246e-03 -2.76857253e-05 9.99996576e-01 -6.46307128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:-32.45, Z:-6.46 [[ 9.87877974e-01 1.55212118e-01 -2.51118308e-03 2.68331888e+02] [-1.55211565e-01 9.87881166e-01 4.14750425e-04 -3.24490651e+01] [ 2.54512476e-03 -1.99581543e-05 9.99996761e-01 -6.46340028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:-32.46, Z:-6.46 [[ 9.87607001e-01 1.56923789e-01 -2.70859089e-03 2.68358388e+02] [-1.56923154e-01 9.87610715e-01 4.46967722e-04 -3.24552619e+01] [ 2.74517326e-03 -1.63878265e-05 9.99996232e-01 -6.46397936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:-32.46, Z:-6.46 [[ 9.86991509e-01 1.60745770e-01 -2.92564057e-03 2.68386297e+02] [-1.60745044e-01 9.86995845e-01 4.83043474e-04 -3.24594069e+01] [ 2.96524228e-03 -6.47758308e-06 9.99995604e-01 -6.46419850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:-32.46, Z:-6.47 [[ 9.86716120e-01 1.62438387e-01 -2.25146313e-03 2.68414303e+02] [-1.62437963e-01 9.86718689e-01 3.71150001e-04 -3.24640567e+01] [ 2.28184976e-03 -4.96604733e-07 9.99997397e-01 -6.46521793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:-32.47, Z:-6.47 [[ 9.86268445e-01 1.65111567e-01 -3.56720380e-03 2.68439936e+02] [-1.65110518e-01 9.86274896e-01 5.88467532e-04 -3.24712761e+01] [ 3.61540635e-03 8.59590957e-06 9.99993464e-01 -6.46678125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:-32.48, Z:-6.47 [[ 9.86065775e-01 1.66293614e-01 -4.55210979e-03 2.68467064e+02] [-1.66291917e-01 9.86076282e-01 7.51474581e-04 -3.24762169e+01] [ 4.61369292e-03 1.59756983e-05 9.99989357e-01 -6.46806501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:-32.48, Z:-6.47 [[ 9.85711805e-01 1.68374886e-01 -4.70478129e-03 2.68493566e+02] [-1.68373100e-01 9.85723033e-01 7.76059757e-04 -3.24815392e+01] [ 4.76828025e-03 2.71873458e-05 9.99988631e-01 -6.46848583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43420382200003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:268.52, Y:-32.49, Z:-6.47 [[ 9.85552848e-01 1.69313081e-01 -4.32015181e-03 2.68521042e+02] [-1.69311585e-01 9.85562317e-01 7.12427980e-04 -3.24863608e+01] [ 4.37840221e-03 2.93163245e-05 9.99990414e-01 -6.47093786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:-32.49, Z:-6.47 [[ 9.85430516e-01 1.70061034e-01 -2.43782981e-03 2.68547595e+02] [-1.70060563e-01 9.85433531e-01 4.00819186e-04 -3.24905134e+01] [ 2.47048296e-03 1.95992534e-05 9.99996948e-01 -6.46779457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:-32.50, Z:-6.47 [[ 9.85385317e-01 1.70331362e-01 -1.73351236e-03 2.68575658e+02] [-1.70331124e-01 9.85386841e-01 2.84613351e-04 -3.24951256e+01] [ 1.75665885e-03 1.48172925e-05 9.99998457e-01 -6.46784839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:-32.50, Z:-6.47 [[ 9.85311939e-01 1.70758620e-01 -1.37014555e-03 2.68602906e+02] [-1.70758473e-01 9.85312891e-01 2.24429260e-04 -3.25007419e+01] [ 1.38834530e-03 1.28311319e-05 9.99999036e-01 -6.46785605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:-32.51, Z:-6.47 [[ 9.85251940e-01 1.71103463e-01 -1.48951024e-03 2.68629970e+02] [-1.71103290e-01 9.85253066e-01 2.43727073e-04 -3.25054230e+01] [ 1.50924707e-03 1.47275307e-05 9.99998861e-01 -6.46858251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:268.66, Y:-32.51, Z:-6.47 [[ 9.85209016e-01 1.71352380e-01 -1.24742273e-03 2.68657313e+02] [-1.71352259e-01 9.85209806e-01 2.03988280e-04 -3.25093897e+01] [ 1.26392698e-03 1.27776090e-05 9.99999201e-01 -6.47176167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:-32.51, Z:-6.47 [[ 9.85182407e-01 1.71508963e-01 -5.48689657e-04 2.68683435e+02] [-1.71508940e-01 9.85182559e-01 8.84466504e-05 -3.25141648e+01] [ 5.55728873e-04 6.96909777e-06 9.99999846e-01 -6.47024880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:-32.52, Z:-6.47 [[ 9.84913115e-01 1.73039537e-01 -1.86430272e-03 2.68711019e+02] [-1.73039269e-01 9.84914879e-01 3.05370489e-04 -3.25193303e+01] [ 1.88902065e-03 2.18341791e-05 9.99998216e-01 -6.47012874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:-32.52, Z:-6.47 [[ 9.84752228e-01 1.73951277e-01 -2.00067397e-03 2.68738294e+02] [-1.73950971e-01 9.84754260e-01 3.27377435e-04 -3.25228530e+01] [ 2.02711994e-03 2.56335222e-05 9.99997945e-01 -6.47062724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.77, Y:-32.53, Z:-6.47 [[ 9.84612865e-01 1.74743733e-01 -1.46054495e-03 2.68766650e+02] [-1.74743572e-01 9.84613948e-01 2.38640985e-04 -3.25258371e+01] [ 1.47977394e-03 2.02518563e-05 9.99998905e-01 -6.47102358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:-32.53, Z:-6.47 [[ 9.84428657e-01 1.75779971e-01 -1.27342848e-03 2.68794141e+02] [-1.75779849e-01 9.84429480e-01 2.07745707e-04 -3.25286266e+01] [ 1.29011807e-03 1.93322388e-05 9.99999168e-01 -6.47240710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:-32.53, Z:-6.47 [[ 9.84474023e-01 1.75526663e-01 -1.13504320e-03 2.68820886e+02] [-1.75526567e-01 9.84474677e-01 1.84598716e-04 -3.25324728e+01] [ 1.14982329e-03 1.74975963e-05 9.99999339e-01 -6.47315692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:-32.54, Z:-6.47 [[ 9.84649557e-01 1.74542930e-01 -1.22249199e-04 2.68848508e+02] [-1.74542929e-01 9.84649565e-01 1.83931531e-05 -3.25363271e+01] [ 1.23583015e-04 3.22692332e-06 9.99999992e-01 -6.47415823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:-32.54, Z:-6.47 [[ 9.84939863e-01 1.72896676e-01 4.54326905e-04 2.68876345e+02] [-1.72896660e-01 9.84939967e-01 -7.63395474e-05 -3.25408213e+01] [-4.60683581e-04 -3.36174086e-06 9.99999894e-01 -6.47478176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:-32.55, Z:-6.48 [[ 9.85788747e-01 1.67989429e-01 3.12096917e-04 2.68903192e+02] [-1.67989421e-01 9.85788797e-01 -5.32282530e-05 -3.25466350e+01] [-3.16603429e-04 4.28324198e-08 9.99999950e-01 -6.47580204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:-32.55, Z:-6.48 [[ 9.86243999e-01 1.65295755e-01 -2.97004718e-04 2.68930570e+02] [-1.65295748e-01 9.86244044e-01 4.69965306e-05 -3.25523066e+01] [ 3.00687461e-04 2.74357093e-06 9.99999955e-01 -6.47678018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:-32.56, Z:-6.48 [[ 9.87097185e-01 1.60120134e-01 -8.31233462e-04 2.68957999e+02] [-1.60120077e-01 9.87097535e-01 1.35192155e-04 -3.25609525e+01] [ 8.42155487e-04 -3.50629863e-07 9.99999645e-01 -6.47798032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:-32.57, Z:-6.48 [[ 9.87382689e-01 1.58351061e-01 -6.06178470e-04 2.68986125e+02] [-1.58351031e-01 9.87382875e-01 9.82492577e-05 -3.25683291e+01] [ 6.14088115e-04 -1.02063067e-06 9.99999811e-01 -6.47839629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.01, Y:-32.58, Z:-6.48 [[ 9.87569579e-01 1.57181219e-01 -6.26081459e-04 2.69012737e+02] [-1.57181186e-01 9.87569777e-01 1.01192547e-04 -3.25752908e+01] [ 6.34204694e-04 -1.52645445e-06 9.99999799e-01 -6.47892354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:-32.58, Z:-6.48 [[ 9.87486114e-01 1.57698719e-01 -1.51253673e-03 2.69039926e+02] [-1.57698526e-01 9.87487273e-01 2.46430209e-04 -3.25807671e+01] [ 1.53247250e-03 -4.82159651e-06 9.99998826e-01 -6.47981631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:-32.59, Z:-6.48 [[ 9.87120199e-01 1.59955601e-01 -2.81406340e-03 2.69066457e+02] [-1.59954941e-01 9.87124210e-01 4.59531487e-04 -3.25886136e+01] [ 2.85133474e-03 -3.48946824e-06 9.99995935e-01 -6.48124651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.09, Y:-32.59, Z:-6.48 [[ 9.86880569e-01 1.61432903e-01 -2.48211005e-03 2.69093609e+02] [-1.61432396e-01 9.86883690e-01 4.04693181e-04 -3.25944566e+01] [ 2.51488472e-03 1.30913663e-06 9.99996838e-01 -6.48136440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09420382200005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:269.12, Y:-32.60, Z:-6.48 [[ 9.86341884e-01 1.64689263e-01 -2.67093053e-03 2.69120790e+02] [-1.64688687e-01 9.86345501e-01 4.35373574e-04 -3.25991782e+01] [ 2.70616166e-03 1.04448514e-05 9.99996338e-01 -6.48350594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.15, Y:-32.60, Z:-6.48 [[ 9.86129865e-01 1.65947724e-01 -3.04009878e-03 2.69147051e+02] [-1.65946986e-01 9.86134551e-01 4.95252293e-04 -3.26040050e+01] [ 3.08013243e-03 1.61121515e-05 9.99995256e-01 -6.48361127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:-32.61, Z:-6.48 [[ 9.85779396e-01 1.68001878e-01 -3.78833525e-03 2.69173014e+02] [-1.68000749e-01 9.85786675e-01 6.16683379e-04 -3.26095403e+01] [ 3.83809438e-03 2.85293910e-05 9.99992634e-01 -6.48366592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:-32.61, Z:-6.48 [[ 9.85561907e-01 1.69278930e-01 -3.51723322e-03 2.69200825e+02] [-1.69277963e-01 9.85568183e-01 5.72980559e-04 -3.26140559e+01] [ 3.56346668e-03 3.06822602e-05 9.99993650e-01 -6.48428569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:-32.62, Z:-6.48 [[ 9.85053343e-01 1.72236392e-01 -2.13019189e-03 2.69228870e+02] [-1.72236046e-01 9.85055645e-01 3.46207354e-04 -3.26182825e+01] [ 2.15798705e-03 2.58631169e-05 9.99997671e-01 -6.48470991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:-32.62, Z:-6.49 [[ 9.84845997e-01 1.73419148e-01 -2.03982784e-03 2.69255065e+02] [-1.73418835e-01 9.84848109e-01 3.31012618e-04 -3.26236892e+01] [ 2.06632452e-03 2.77481157e-05 9.99997865e-01 -6.48529092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:-32.63, Z:-6.49 [[ 9.84531492e-01 1.75183235e-01 -2.92823359e-03 2.69281138e+02] [-1.75182595e-01 9.84535846e-01 4.75790705e-04 -3.26296226e+01] [ 2.96630149e-03 4.45446253e-05 9.99995600e-01 -6.48606911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:-32.63, Z:-6.49 [[ 9.84495138e-01 1.75391940e-01 -2.64415475e-03 2.69307923e+02] [-1.75391420e-01 9.84498687e-01 4.29244132e-04 -3.26327027e+01] [ 2.67845284e-03 4.11732955e-05 9.99996412e-01 -6.48654292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:-32.64, Z:-6.49 [[ 9.84558001e-01 1.75052336e-01 -1.49069391e-03 2.69335407e+02] [-1.75052172e-01 9.84559129e-01 2.41336714e-04 -3.26350591e+01] [ 1.50992285e-03 2.33392123e-05 9.99998860e-01 -6.48767230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:-32.64, Z:-6.49 [[ 9.84632186e-01 1.74628070e-01 -2.12026398e-03 2.69362832e+02] [-1.74627735e-01 9.84634468e-01 3.43726012e-04 -3.26385612e+01] [ 2.14770921e-03 3.18132013e-05 9.99997693e-01 -6.48859639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:-32.64, Z:-6.49 [[ 9.84685422e-01 1.74330532e-01 -1.86712975e-03 2.69391734e+02] [-1.74330271e-01 9.84687191e-01 3.02875992e-04 -3.26433628e+01] [ 1.89133928e-03 2.72596610e-05 9.99998211e-01 -6.48904219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:-32.65, Z:-6.49 [[ 9.84718722e-01 1.74147436e-01 -1.30727235e-03 2.69419020e+02] [-1.74147309e-01 9.84719590e-01 2.11322794e-04 -3.26486034e+01] [ 1.32409802e-03 1.95644504e-05 9.99999123e-01 -6.48970276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:-32.65, Z:-6.49 [[ 9.84804865e-01 1.73630675e-01 -3.43023082e-03 2.69446594e+02] [-1.73629790e-01 9.84810838e-01 5.56450619e-04 -3.26522647e+01] [ 3.47474539e-03 4.75949797e-05 9.99993962e-01 -6.48978833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:-32.65, Z:-6.49 [[ 9.84954985e-01 1.72778274e-01 -3.36831303e-03 2.69474465e+02] [-1.72777417e-01 9.84960743e-01 5.46116301e-04 -3.26540182e+01] [ 3.41201314e-03 4.40684507e-05 9.99994178e-01 -6.49098628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:269.50, Y:-32.66, Z:-6.49 [[ 9.85155648e-01 1.71651588e-01 -2.02043597e-03 2.69502120e+02] [-1.71651278e-01 9.85157719e-01 3.26752718e-04 -3.26596817e+01] [ 2.04653571e-03 2.49081314e-05 9.99997906e-01 -6.49302482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:-32.66, Z:-6.49 [[ 9.85375524e-01 1.70393889e-01 -9.99446306e-04 2.69529085e+02] [-1.70393814e-01 9.85376031e-01 1.60418320e-04 -3.26633401e+01] [ 1.01216474e-03 1.22271816e-05 9.99999488e-01 -6.49061742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:-32.67, Z:-6.49 [[ 9.85512629e-01 1.69601932e-01 -2.08896935e-04 2.69557613e+02] [-1.69601929e-01 9.85512651e-01 3.27876706e-05 -3.26660860e+01] [ 2.11431424e-04 3.11665961e-06 9.99999978e-01 -6.49090949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:-32.67, Z:-6.49 [[ 9.85700919e-01 1.68503897e-01 -3.68162465e-04 2.69584917e+02] [-1.68503887e-01 9.85700988e-01 5.83591269e-05 -3.26704558e+01] [ 3.72731845e-04 4.51216124e-06 9.99999931e-01 -6.49162612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:269.61, Y:-32.68, Z:-6.50 [[ 9.85894116e-01 1.67354787e-01 -2.27307062e-03 2.69612273e+02] [-1.67354385e-01 9.85896736e-01 3.67510771e-04 -3.26767520e+01] [ 2.30251759e-03 1.80816275e-05 9.99997349e-01 -6.49565382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.64, Y:-32.68, Z:-6.49 [[ 9.86112712e-01 1.66064416e-01 -2.08076013e-03 2.69639796e+02] [-1.66064077e-01 9.86114907e-01 3.35892396e-04 -3.26813686e+01] [ 2.10764836e-03 1.43117489e-05 9.99997779e-01 -6.49431885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.67, Y:-32.69, Z:-6.50 [[ 9.86275793e-01 1.65095258e-01 -1.90163769e-03 2.69666973e+02] [-1.65094973e-01 9.86277626e-01 3.07006501e-04 -3.26853421e+01] [ 1.92622802e-03 1.11577419e-05 9.99998145e-01 -6.49532164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.70, Y:-32.69, Z:-6.50 [[ 9.86398076e-01 1.64346419e-01 -3.01512437e-03 2.69695996e+02] [-1.64345696e-01 9.86402684e-01 4.87694117e-04 -3.26891277e+01] [ 3.05427755e-03 1.44621752e-05 9.99995336e-01 -6.49538986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.72, Y:-32.69, Z:-6.50 [[ 9.86357434e-01 1.64583444e-01 -3.36201681e-03 2.69723695e+02] [-1.64582548e-01 9.86363163e-01 5.43133716e-04 -3.26924538e+01] [ 3.40556035e-03 1.76053166e-05 9.99994201e-01 -6.49602624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.75, Y:-32.70, Z:-6.50 [[ 9.86302791e-01 1.64901865e-01 -3.76542484e-03 2.69749894e+02] [-1.64900746e-01 9.86309979e-01 6.07915523e-04 -3.26964476e+01] [ 3.81412250e-03 2.13325881e-05 9.99992726e-01 -6.49706902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.78, Y:-32.70, Z:-6.50 [[ 9.86053086e-01 1.66353858e-01 -5.07000827e-03 2.69777986e+02] [-1.66351846e-01 9.86066120e-01 8.19111505e-04 -3.26993692e+01] [ 5.13562574e-03 3.57178058e-05 9.99986812e-01 -6.49844950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.81, Y:-32.70, Z:-6.50 [[ 9.85971087e-01 1.66843169e-01 -4.93683645e-03 2.69805736e+02] [-1.66841269e-01 9.85983446e-01 7.97128624e-04 -3.27028303e+01] [ 5.00063448e-03 3.77222815e-05 9.99987496e-01 -6.49982424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.83, Y:-32.71, Z:-6.50 [[ 9.85918011e-01 1.67172084e-01 -4.37833737e-03 2.69831830e+02] [-1.67170597e-01 9.85927732e-01 7.06098595e-04 -3.27074778e+01] [ 4.43476421e-03 3.57739503e-05 9.99990166e-01 -6.50117608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.86, Y:-32.71, Z:-6.50 [[ 9.85920152e-01 1.67149917e-01 -4.72846947e-03 2.69859416e+02] [-1.67148182e-01 9.85931490e-01 7.62688307e-04 -3.27118736e+01] [ 4.78943023e-03 3.84053017e-05 9.99988530e-01 -6.50157577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:269.89, Y:-32.71, Z:-6.50 [[ 9.85999114e-01 1.66693988e-01 -4.34299006e-03 2.69885971e+02] [-1.66692526e-01 9.86008678e-01 6.99075971e-04 -3.27140656e+01] [ 4.39875765e-03 3.46556963e-05 9.99990325e-01 -6.50357727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.91, Y:-32.72, Z:-6.50 [[ 9.86153816e-01 1.65786391e-01 -3.94000966e-03 2.69913533e+02] [-1.65785179e-01 9.86161686e-01 6.34536696e-04 -3.27182325e+01] [ 3.99068412e-03 2.74444235e-05 9.99992037e-01 -6.50293133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.94, Y:-32.72, Z:-6.50 [[ 9.86163606e-01 1.65728146e-01 -3.94000398e-03 2.69941679e+02] [-1.65726933e-01 9.86171476e-01 6.34571564e-04 -3.27226432e+01] [ 3.99068591e-03 2.71733961e-05 9.99992037e-01 -6.50358731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.97, Y:-32.73, Z:-6.50 [[ 9.86481128e-01 1.63794856e-01 -5.12149183e-03 2.69969182e+02] [-1.63792783e-01 9.86494422e-01 8.24515476e-04 -3.27264734e+01] [ 5.18737452e-03 2.54944445e-05 9.99986545e-01 -6.50404799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.00, Y:-32.73, Z:-6.50 [[ 9.86651848e-01 1.62761653e-01 -5.17449722e-03 2.69996229e+02] [-1.62759526e-01 9.86665416e-01 8.32329681e-04 -3.27305963e+01] [ 5.24096881e-03 2.09790998e-05 9.99986266e-01 -6.50474654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.02, Y:-32.73, Z:-6.51 [[ 9.86836965e-01 1.61639064e-01 -5.06145257e-03 2.70022423e+02] [-1.61637019e-01 9.86849944e-01 8.13232858e-04 -3.27347802e+01] [ 5.12634438e-03 1.55898575e-05 9.99986860e-01 -6.50527209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.05, Y:-32.74, Z:-6.51 [[ 9.87160698e-01 1.59655109e-01 -4.89920149e-03 2.70048580e+02] [-1.59653168e-01 9.87172855e-01 7.87110435e-04 -3.27398998e+01] [ 4.96202493e-03 5.16855511e-06 9.99987689e-01 -6.50661573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.08, Y:-32.75, Z:-6.51 [[ 9.87303199e-01 1.58806708e-01 -3.58097155e-03 2.70075785e+02] [-1.58805668e-01 9.87309693e-01 5.74741965e-04 -3.27457100e+01] [ 3.62680080e-03 1.23399724e-06 9.99993423e-01 -6.50621955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.10, Y:-32.75, Z:-6.51 [[ 9.87328929e-01 1.58673781e-01 -2.05369753e-03 2.70102232e+02] [-1.58673441e-01 9.87331065e-01 3.28424992e-04 -3.27494527e+01] [ 2.07979181e-03 1.60375865e-06 9.99997837e-01 -6.50620540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.13, Y:-32.75, Z:-6.51 [[ 9.87427946e-01 1.58066992e-01 -9.36576814e-04 2.70129285e+02] [-1.58066921e-01 9.87428390e-01 1.49255758e-04 -3.27536371e+01] [ 9.48394944e-04 6.62507250e-07 9.99999550e-01 -6.50596267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.16, Y:-32.76, Z:-6.51 [[ 9.87425533e-01 1.58079549e-01 -1.29321761e-03 2.70157746e+02] [-1.58079414e-01 9.87426380e-01 2.06787665e-04 -3.27604070e+01] [ 1.30964608e-03 2.43660775e-07 9.99999142e-01 -6.50983821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.19, Y:-32.77, Z:-6.51 [[ 9.87469937e-01 1.57797672e-01 -1.73744961e-03 2.70185137e+02] [-1.57797428e-01 9.87471465e-01 2.77822959e-04 -3.27684904e+01] [ 1.75952173e-03 -1.76739600e-07 9.99998452e-01 -6.50786727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.21, Y:-32.77, Z:-6.51 [[ 9.87238405e-01 1.59233133e-01 -2.26755819e-03 2.70213440e+02] [-1.59232719e-01 9.87241009e-01 3.63212141e-04 -3.27745402e+01] [ 2.29646184e-03 2.49248079e-06 9.99997363e-01 -6.50841505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.24, Y:-32.78, Z:-6.51 [[ 9.86704316e-01 1.62501439e-01 -2.80631329e-03 2.70241347e+02] [-1.62500817e-01 9.86708307e-01 4.49612104e-04 -3.27794076e+01] [ 2.84207525e-03 1.23939988e-05 9.99995961e-01 -6.50899039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.27, Y:-32.78, Z:-6.51 [[ 9.86360541e-01 1.64577332e-01 -2.68048184e-03 2.70270092e+02] [-1.64576774e-01 9.86364183e-01 4.29236476e-04 -3.27842484e+01] [ 2.71457388e-03 1.77631314e-05 9.99996315e-01 -6.50933651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.30, Y:-32.79, Z:-6.51 [[ 9.85658729e-01 1.68735884e-01 -2.25213150e-03 2.70297103e+02] [-1.68735504e-01 9.85661301e-01 3.58971679e-04 -3.27870785e+01] [ 2.28041027e-03 2.61909763e-05 9.99997400e-01 -6.50964371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.32, Y:-32.79, Z:-6.51 [[ 9.85406798e-01 1.70203087e-01 -2.08600444e-03 2.70324894e+02] [-1.70202764e-01 9.85409006e-01 3.32847136e-04 -3.27913510e+01] [ 2.11221917e-03 2.70538907e-05 9.99997769e-01 -6.51024781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.35, Y:-32.80, Z:-6.51 [[ 9.85112224e-01 1.71905384e-01 -1.56345864e-03 2.70351447e+02] [-1.71905206e-01 9.85113465e-01 2.48630978e-04 -3.27972428e+01] [ 1.58292516e-03 2.38372635e-05 9.99998747e-01 -6.51075244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.38, Y:-32.80, Z:-6.51 [[ 9.85082551e-01 1.72072132e-01 -1.88395592e-03 2.70380232e+02] [-1.72071872e-01 9.85084352e-01 3.00754164e-04 -3.28028448e+01] [ 1.90760691e-03 2.79081430e-05 9.99998180e-01 -6.51090708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:-32.81, Z:-6.51 [[ 9.85072627e-01 1.72132246e-01 -1.55211587e-03 2.70408084e+02] [-1.72132071e-01 9.85073850e-01 2.47200104e-04 -3.28062444e+01] [ 1.57149987e-03 2.36588636e-05 9.99998765e-01 -6.51184563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:-32.81, Z:-6.51 [[ 9.85060733e-01 1.72205000e-01 -8.89463596e-04 2.70435893e+02] [-1.72204943e-01 9.85061134e-01 1.40785362e-04 -3.28094303e+01] [ 9.00419962e-04 1.44878964e-05 9.99999595e-01 -6.51306105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.46, Y:-32.81, Z:-6.51 [[ 9.85002271e-01 1.72532918e-01 -1.70842300e-03 2.70463986e+02] [-1.72532706e-01 9.85003752e-01 2.71765638e-04 -3.28134320e+01] [ 1.72969158e-03 2.70690726e-05 9.99998504e-01 -6.51395461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:-32.82, Z:-6.51 [[ 9.85012062e-01 1.72466162e-01 -2.58090806e-03 2.70492137e+02] [-1.72465675e-01 9.85015442e-01 4.11756279e-04 -3.28182544e+01] [ 2.61324831e-03 3.95331484e-05 9.99996585e-01 -6.51451523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:-32.82, Z:-6.51 [[ 9.85282475e-01 1.70931233e-01 -9.78914337e-04 2.70519373e+02] [-1.70931164e-01 9.85282961e-01 1.55102530e-04 -3.28226198e+01] [ 9.91019483e-04 1.45071618e-05 9.99999509e-01 -6.51490969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.55, Y:-32.83, Z:-6.52 [[ 9.85430035e-01 1.70077786e-01 -1.09256358e-03 2.70547896e+02] [-1.70077698e-01 9.85430640e-01 1.73537749e-04 -3.28267153e+01] [ 1.10616055e-03 1.48113900e-05 9.99999388e-01 -6.51863067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.58, Y:-32.83, Z:-6.52 [[ 9.85841566e-01 1.67653727e-01 -2.93855182e-03 2.70576631e+02] [-1.67653075e-01 9.85845945e-01 4.68523685e-04 -3.28315232e+01] [ 2.97550913e-03 3.07671252e-05 9.99995573e-01 -6.51557901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.60, Y:-32.84, Z:-6.52 [[ 9.85926402e-01 1.67165370e-01 -2.20645864e-03 2.70604567e+02] [-1.67165003e-01 9.85928871e-01 3.51103935e-04 -3.28354851e+01] [ 2.23410370e-03 2.26800250e-05 9.99997504e-01 -6.51923551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.63, Y:-32.84, Z:-6.52 [[ 9.86047901e-01 1.66457873e-01 -1.14616186e-03 2.70632437e+02] [-1.66457775e-01 9.86048567e-01 1.81316533e-04 -3.28378706e+01] [ 1.16035282e-03 1.20007661e-05 9.99999327e-01 -6.51619094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.66, Y:-32.84, Z:-6.52 [[ 9.86038463e-01 1.66514046e-01 -1.10515150e-03 2.70660033e+02] [-1.66513955e-01 9.86039083e-01 1.74987824e-04 -3.28409090e+01] [ 1.11886050e-03 1.14784227e-05 9.99999374e-01 -6.51709507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80420382200003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:270.69, Y:-32.85, Z:-6.52 [[ 9.85980488e-01 1.66860477e-01 -2.42872730e-04 2.70688811e+02] [-1.66860473e-01 9.85980518e-01 3.75914517e-05 -3.28458917e+01] [ 2.45740307e-04 3.46142066e-06 9.99999970e-01 -6.52124908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.72, Y:-32.85, Z:-6.52 [[ 9.85970443e-01 1.66919180e-01 -5.22049933e-04 2.70716052e+02] [-1.66919160e-01 9.85970581e-01 8.18248297e-05 -3.28508321e+01] [ 5.28384009e-04 6.46327276e-06 9.99999860e-01 -6.51841175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:-32.85, Z:-6.52 [[ 9.86102383e-01 1.66128673e-01 -1.83117573e-03 2.70743872e+02] [-1.66128420e-01 9.86104084e-01 2.90483479e-04 -3.28527166e+01] [ 1.85398750e-03 1.77638794e-05 9.99998281e-01 -6.51984065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:-32.86, Z:-6.52 [[ 9.86472106e-01 1.63920080e-01 -1.72961056e-03 2.70772497e+02] [-1.63919850e-01 9.86473622e-01 2.74523178e-04 -3.28558738e+01] [ 1.75121506e-03 1.27080471e-05 9.99998467e-01 -6.51977361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:270.80, Y:-32.86, Z:-6.52 [[ 9.86669499e-01 1.62736359e-01 -4.20647284e-04 2.70799924e+02] [-1.62736346e-01 9.86669589e-01 6.54524956e-05 -3.28590916e+01] [ 4.25691383e-04 3.87462094e-06 9.99999909e-01 -6.52371842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.83, Y:-32.86, Z:-6.52 [[ 9.86876475e-01 1.61476810e-01 -2.51136284e-04 2.70828184e+02] [-1.61476806e-01 9.86876507e-01 3.89034189e-05 -3.28633243e+01] [ 2.54122499e-04 2.15981612e-06 9.99999968e-01 -6.52301048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.86, Y:-32.87, Z:-6.52 [[ 9.87045636e-01 1.60434225e-01 -1.33112590e-03 2.70856667e+02] [-1.60434087e-01 9.87046533e-01 2.10800530e-04 -3.28684400e+01] [ 1.34770282e-03 5.48822524e-06 9.99999092e-01 -6.52181961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:-32.87, Z:-6.52 [[ 9.86903858e-01 1.61308794e-01 -4.97634289e-04 2.70883719e+02] [-1.61308776e-01 9.86903984e-01 7.76611985e-05 -3.28724739e+01] [ 5.03644696e-04 3.62864155e-06 9.99999873e-01 -6.52187938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:-32.88, Z:-6.52 [[ 9.86788225e-01 1.62015400e-01 -9.09300771e-05 2.70911987e+02] [-1.62015400e-01 9.86788230e-01 1.28375812e-05 -3.28760862e+01] [ 9.18086153e-05 2.06409877e-06 9.99999996e-01 -6.52177499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:-32.88, Z:-6.52 [[ 9.86560413e-01 1.63396435e-01 -3.96645862e-04 2.70940013e+02] [-1.63396423e-01 9.86560492e-01 6.17280488e-05 -3.28796015e+01] [ 4.01401279e-04 3.91206581e-06 9.99999919e-01 -6.52335962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:-32.88, Z:-6.52 [[ 9.86451954e-01 1.64042666e-01 -1.59545831e-03 2.70968622e+02] [-1.64042472e-01 9.86453244e-01 2.52474502e-04 -3.28835907e+01] [ 1.61526161e-03 1.26689591e-05 9.99998695e-01 -6.52371955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:-32.89, Z:-6.52 [[ 9.86263403e-01 1.65174081e-01 -1.42214087e-03 2.70995692e+02] [-1.65173930e-01 9.86264428e-01 2.23930238e-04 -3.28865511e+01] [ 1.43959442e-03 1.40463981e-05 9.99998964e-01 -6.52489835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:-32.89, Z:-6.53 [[ 9.86262194e-01 1.65186313e-01 -6.06102604e-04 2.71023537e+02] [-1.65186286e-01 9.86262380e-01 9.45553337e-05 -3.28908613e+01] [ 6.13395443e-04 6.86348743e-06 9.99999812e-01 -6.52528613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:271.05, Y:-32.90, Z:-6.53 [[ 9.86456591e-01 1.64019789e-01 -9.49652335e-04 2.71050362e+02] [-1.64019722e-01 9.86457049e-01 1.49345775e-04 -3.28964154e+01] [ 9.61286902e-04 8.43858712e-06 9.99999538e-01 -6.52869105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:-32.90, Z:-6.53 [[ 9.86679926e-01 1.62664469e-01 -1.73059485e-03 2.71078476e+02] [-1.62664240e-01 9.86681443e-01 2.73543878e-04 -3.29018996e+01] [ 1.75204170e-03 1.16056434e-05 9.99998465e-01 -6.52603542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:-32.91, Z:-6.53 [[ 9.86857811e-01 1.61584546e-01 -1.44728495e-03 2.71107062e+02] [-1.61584385e-01 9.86858873e-01 2.28478445e-04 -3.29077090e+01] [ 1.46518458e-03 8.38291057e-06 9.99998927e-01 -6.52721679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:-32.91, Z:-6.53 [[ 9.86815536e-01 1.61846061e-01 -9.75306147e-04 2.71135022e+02] [-1.61845988e-01 9.86816018e-01 1.53532830e-04 -3.29135657e+01] [ 9.87296411e-04 6.34080533e-06 9.99999513e-01 -6.52754646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:-32.92, Z:-6.53 [[ 9.86406797e-01 1.64321092e-01 4.56992792e-04 2.71162973e+02] [-1.64321076e-01 9.86406903e-01 -7.36056881e-05 -3.29196772e+01] [-4.62875812e-04 -2.48839597e-06 9.99999893e-01 -6.52742923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:-32.92, Z:-6.53 [[ 9.86074165e-01 1.66300394e-01 1.38586540e-03 2.71190547e+02] [-1.66300247e-01 9.86075139e-01 -2.21068797e-04 -3.29241018e+01] [-1.40333124e-03 -1.24795292e-05 9.99999015e-01 -6.52764051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.22, Y:-32.93, Z:-6.53 [[ 9.85366759e-01 1.70440643e-01 1.52898714e-03 2.71218462e+02] [-1.70440470e-01 9.85367945e-01 -2.43411083e-04 -3.29289935e+01] [-1.54810206e-03 -2.07520971e-05 9.99998801e-01 -6.52796728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:-32.93, Z:-6.53 [[ 9.84636671e-01 1.74597687e-01 2.50487289e-03 2.71245625e+02] [-1.74597239e-01 9.84639856e-01 -3.98144480e-04 -3.29348387e+01] [-2.53591278e-03 -4.53162354e-05 9.99996784e-01 -6.52854421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:-32.94, Z:-6.53 [[ 9.84336947e-01 1.76265421e-01 3.35792183e-03 2.71274058e+02] [-1.76264629e-01 9.84342672e-01 -5.32777976e-04 -3.29386747e+01] [-3.39925609e-03 -6.74497986e-05 9.99994220e-01 -6.52908018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:-32.94, Z:-6.53 [[ 9.84027843e-01 1.77979015e-01 3.56014000e-03 2.71301764e+02] [-1.77978136e-01 9.84034280e-01 -5.64848664e-04 -3.29419919e+01] [-3.60383101e-03 -7.78002683e-05 9.99993503e-01 -6.52969580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:-32.94, Z:-6.53 [[ 9.83722680e-01 1.79691053e-01 9.02562377e-04 2.71329631e+02] [-1.79690996e-01 9.83723094e-01 -1.44407546e-04 -3.29437880e+01] [-9.13820198e-04 -2.01253546e-05 9.99999582e-01 -6.53136808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:-32.94, Z:-6.53 [[ 9.83765737e-01 1.79457433e-01 6.52738151e-05 2.71358459e+02] [-1.79457433e-01 9.83765739e-01 -1.20797880e-05 -3.29432476e+01] [-6.63819511e-05 1.69810212e-07 9.99999998e-01 -6.53239136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:-32.95, Z:-6.53 [[ 9.83899991e-01 1.78719686e-01 2.84771628e-04 2.71385779e+02] [-1.78719680e-01 9.83900032e-01 -4.70478935e-05 -3.29459546e+01] [-2.88595199e-04 -4.60387219e-06 9.99999958e-01 -6.53371401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:-32.95, Z:-6.53 [[ 9.84179916e-01 1.77171892e-01 -1.20806425e-04 2.71413038e+02] [-1.77171891e-01 9.84179923e-01 1.73643535e-05 -3.29499443e+01] [ 1.21971733e-04 4.31385472e-06 9.99999993e-01 -6.53418106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:-32.95, Z:-6.54 [[ 9.84864001e-01 1.73327121e-01 7.79809723e-04 2.71441320e+02] [-1.73327077e-01 9.84864310e-01 -1.24843770e-04 -3.29533051e+01] [-7.89645577e-04 -1.22080044e-05 9.99999688e-01 -6.53514277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:-32.96, Z:-6.54 [[ 9.85315843e-01 1.70738243e-01 1.06853702e-03 2.71469393e+02] [-1.70738159e-01 9.85316422e-01 -1.70061344e-04 -3.29565322e+01] [-1.08188305e-03 -1.48759061e-05 9.99999415e-01 -6.53578359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:-32.96, Z:-6.54 [[ 9.86360123e-01 1.64595273e-01 1.45041099e-03 2.71496855e+02] [-1.64595112e-01 9.86361189e-01 -2.30222947e-04 -3.29589168e+01] [-1.46852272e-03 -1.16478255e-05 9.99998922e-01 -6.53624127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:-32.96, Z:-6.54 [[ 9.86910791e-01 1.61256414e-01 1.86015353e-03 2.71525530e+02] [-1.61256145e-01 9.86912544e-01 -2.94484790e-04 -3.29619910e+01] [-1.88329642e-03 -9.33097211e-06 9.99998227e-01 -6.53674574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:-32.96, Z:-6.54 [[ 9.87869969e-01 1.55270282e-01 2.01617889e-03 2.71553020e+02] [-1.55269953e-01 9.87872026e-01 -3.19242655e-04 -3.29643368e+01] [-2.04129562e-03 2.31822924e-06 9.99997917e-01 -6.53726466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.58, Y:-32.97, Z:-6.54 [[ 9.88327970e-01 1.52336366e-01 1.20612887e-03 2.71581483e+02] [-1.52336246e-01 9.88328706e-01 -1.91213029e-04 -3.29701796e+01] [-1.22118049e-03 5.24404026e-06 9.99999254e-01 -6.53751310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:271.61, Y:-32.98, Z:-6.54 [[ 9.89012037e-01 1.47830645e-01 1.13627861e-03 2.71608417e+02] [-1.47830536e-01 9.89012690e-01 -1.80415207e-04 -3.29751747e+01] [-1.15046486e-03 1.04561350e-05 9.99999338e-01 -6.54076613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:-32.98, Z:-6.54 [[ 9.89262767e-01 1.46134295e-01 1.98633173e-03 2.71636331e+02] [-1.46133959e-01 9.89264761e-01 -3.13907093e-04 -3.29804371e+01] [-2.01088058e-03 2.02660798e-05 9.99997978e-01 -6.53853198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.66, Y:-32.99, Z:-6.54 [[ 9.89646144e-01 1.43520732e-01 1.51971827e-03 2.71664737e+02] [-1.43520532e-01 9.89647311e-01 -2.40375334e-04 -3.29883623e+01] [-1.53848394e-03 1.97757485e-05 9.99998816e-01 -6.53911114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:-32.99, Z:-6.54 [[ 9.89651476e-01 1.43483956e-01 1.51977073e-03 2.71693716e+02] [-1.43483756e-01 9.89652643e-01 -2.40042169e-04 -3.29928409e+01] [-1.53848732e-03 1.94956746e-05 9.99998816e-01 -6.53978634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:271.72, Y:-33.00, Z:-6.54 [[ 9.89699385e-01 1.43149758e-01 1.80937194e-03 2.71721229e+02] [-1.43149474e-01 9.89701039e-01 -2.86074008e-04 -3.29980296e+01] [-1.83168872e-03 2.41166275e-05 9.99998322e-01 -6.54429459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944203822 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.75, Y:-33.00, Z:-6.54 [[ 9.89491003e-01 1.44582833e-01 1.83276241e-03 2.71749162e+02] [-1.44582545e-01 9.89492700e-01 -2.89375595e-04 -3.30041195e+01] [-1.85534377e-03 2.13490946e-05 9.99998279e-01 -6.54357019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:-33.01, Z:-6.54 [[ 9.88966608e-01 1.48132463e-01 1.34947948e-03 2.71776314e+02] [-1.48132310e-01 9.88967529e-01 -2.13298713e-04 -3.30102837e+01] [-1.36618785e-03 1.10437931e-05 9.99999067e-01 -6.54226622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:-33.01, Z:-6.54 [[ 9.88554668e-01 1.50856008e-01 1.46042767e-03 2.71803370e+02] [-1.50855832e-01 9.88555747e-01 -2.30928657e-04 -3.30149965e+01] [-1.47855114e-03 7.97157249e-06 9.99998907e-01 -6.54265834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:-33.02, Z:-6.54 [[ 9.87617447e-01 1.56881019e-01 3.52393333e-04 2.71831439e+02] [-1.56881009e-01 9.87617510e-01 -5.65032156e-05 -3.30221517e+01] [-3.56894108e-04 5.19739810e-07 9.99999936e-01 -6.54466011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:-33.03, Z:-6.55 [[ 9.87169138e-01 1.59674456e-01 -1.07737977e-03 2.71858630e+02] [-1.59674368e-01 9.87169726e-01 1.67763074e-04 -3.30272761e+01] [ 1.09034417e-03 6.41940496e-06 9.99999406e-01 -6.54528235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:-33.03, Z:-6.55 [[ 9.86772077e-01 1.62104843e-01 -1.69961372e-03 2.71887394e+02] [-1.62104626e-01 9.86773540e-01 2.65666977e-04 -3.30313169e+01] [ 1.72019975e-03 1.33624904e-05 9.99998520e-01 -6.54618672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:-33.03, Z:-6.55 [[ 9.86207178e-01 1.65505095e-01 -1.86163718e-03 2.71914805e+02] [-1.65504841e-01 9.86208935e-01 2.90704519e-04 -3.30343510e+01] [ 1.88407629e-03 2.14150817e-05 9.99998225e-01 -6.54740884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:271.94, Y:-33.04, Z:-6.55 [[ 9.85817139e-01 1.67802458e-01 -2.62750559e-03 2.71942826e+02] [-1.67801960e-01 9.85820640e-01 4.10470760e-04 -3.30365427e+01] [ 2.65912724e-03 3.62514779e-05 9.99996464e-01 -6.55101393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:-33.04, Z:-6.55 [[ 9.85727016e-01 1.68334141e-01 -2.42208643e-03 2.71970537e+02] [-1.68333720e-01 9.85729991e-01 3.78026423e-04 -3.30404918e+01] [ 2.45115799e-03 3.50879606e-05 9.99996995e-01 -6.54833653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:-33.04, Z:-6.55 [[ 9.85724532e-01 1.68364477e-01 -7.42062771e-04 2.71997484e+02] [-1.68364439e-01 9.85724811e-01 1.14302780e-04 -3.30442084e+01] [ 7.50714212e-04 1.22659281e-05 9.99999718e-01 -6.54928755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:-33.05, Z:-6.55 [[ 9.85846765e-01 1.67648837e-01 -1.54442861e-04 2.72024768e+02] [-1.67648835e-01 9.85846777e-01 2.24756636e-05 -3.30489351e+01] [ 1.56025016e-04 3.73460563e-06 9.99999988e-01 -6.54925026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:-33.05, Z:-6.55 [[ 9.86320542e-01 1.64837917e-01 5.00355849e-04 2.72053614e+02] [-1.64837897e-01 9.86320669e-01 -7.94740041e-05 -3.30530886e+01] [-5.06611645e-04 -4.09076339e-06 9.99999872e-01 -6.54991124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:-33.06, Z:-6.55 [[ 9.86722639e-01 1.62412972e-01 6.78089228e-04 2.72081932e+02] [-1.62412937e-01 9.86722872e-01 -1.07276845e-04 -3.30565137e+01] [-6.86509303e-04 -4.27797180e-06 9.99999764e-01 -6.55063349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:-33.06, Z:-6.55 [[ 9.87647040e-01 1.56694045e-01 5.48369945e-04 2.72109942e+02] [-1.56694021e-01 9.87647192e-01 -8.69480279e-05 -3.30622217e+01] [-5.55220275e-04 -5.23293362e-08 9.99999846e-01 -6.55219753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:-33.07, Z:-6.55 [[ 9.88122334e-01 1.53669285e-01 -6.59518391e-05 2.72138323e+02] [-1.53669285e-01 9.88122336e-01 9.16388231e-06 -3.30686612e+01] [ 6.65766922e-05 1.07973517e-06 9.99999998e-01 -6.55312822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:-33.08, Z:-6.55 [[ 9.88807859e-01 1.49194427e-01 -2.03692617e-04 2.72165290e+02] [-1.49194424e-01 9.88807880e-01 3.04186784e-05 -3.30760812e+01] [ 2.05951162e-04 3.11574310e-07 9.99999979e-01 -6.55326504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.19, Y:-33.08, Z:-6.55 [[ 9.89117733e-01 1.47126133e-01 1.09673872e-04 2.72193664e+02] [-1.47126132e-01 9.89117739e-01 -1.82909118e-05 -3.30827628e+01] [-1.11171444e-04 1.95597269e-06 9.99999994e-01 -6.55407310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:-33.09, Z:-6.55 [[ 9.89134436e-01 1.47013781e-01 1.27819222e-04 2.72220330e+02] [-1.47013780e-01 9.89134444e-01 -2.13968928e-05 -3.30890918e+01] [-1.29576034e-04 2.37321649e-06 9.99999992e-01 -6.55478842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:-33.10, Z:-6.56 [[ 9.89128849e-01 1.47051417e-01 3.62252492e-05 2.72248357e+02] [-1.47051417e-01 9.89128849e-01 -6.79367357e-06 -3.30995984e+01] [-3.68304587e-05 1.39284431e-06 9.99999999e-01 -6.55515858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:-33.11, Z:-6.56 [[ 9.89084343e-01 1.47350441e-01 -9.76370340e-05 2.72276704e+02] [-1.47350440e-01 9.89084348e-01 1.41028783e-05 -3.31066771e+01] [ 9.86493271e-05 4.37923827e-07 9.99999995e-01 -6.55581448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:-33.12, Z:-6.56 [[ 9.88723281e-01 1.49753232e-01 -4.92153132e-04 2.72303044e+02] [-1.49753213e-01 9.88723404e-01 7.53889787e-05 -3.31161867e+01] [ 4.97893063e-04 -8.37325561e-07 9.99999876e-01 -6.55592414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5742038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.33, Y:-33.12, Z:-6.56 [[ 9.88391815e-01 1.51924874e-01 -6.73208031e-04 2.72330654e+02] [-1.51924838e-01 9.88392044e-01 1.03889012e-04 -3.31229125e+01] [ 6.81176787e-04 -4.06027503e-07 9.99999768e-01 -6.55845653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:-33.13, Z:-6.56 [[ 9.87561676e-01 1.57232111e-01 8.55756936e-06 2.72356954e+02] [-1.57232111e-01 9.87561676e-01 -2.76504121e-06 -3.31319287e+01] [-8.88588120e-06 1.38512403e-06 1.00000000e+00 -6.55717711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.39, Y:-33.14, Z:-6.56 [[ 9.87070082e-01 1.60289279e-01 -3.27679045e-06 2.72385192e+02] [-1.60289279e-01 9.87070082e-01 -6.51910297e-07 -3.31383375e+01] [ 3.12992719e-06 1.16871553e-06 1.00000000e+00 -6.55763734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.41, Y:-33.15, Z:-6.56 [[ 9.85941646e-01 1.67087590e-01 -8.98797869e-04 2.72411787e+02] [-1.67087533e-01 9.85942056e-01 1.38509754e-04 -3.31464791e+01] [ 9.09305880e-04 1.36153837e-05 9.99999586e-01 -6.55879188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:-33.15, Z:-6.56 [[ 9.85422064e-01 1.70123477e-01 -1.16544793e-03 2.72440361e+02] [-1.70123382e-01 9.85422753e-01 1.80434781e-04 -3.31532057e+01] [ 1.17915510e-03 2.04655304e-05 9.99999305e-01 -6.55965558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.47, Y:-33.16, Z:-6.56 [[ 9.84888650e-01 1.73186336e-01 -9.16447644e-04 2.72468936e+02] [-1.73186279e-01 9.84889076e-01 1.41583252e-04 -3.31595557e+01] [ 9.27119558e-04 1.92724202e-05 9.99999570e-01 -6.56008696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.50, Y:-33.16, Z:-6.56 [[ 9.84026292e-01 1.78019741e-01 1.10795172e-03 2.72496241e+02] [-1.78019658e-01 9.84026916e-01 -1.73906919e-04 -3.31643747e+01] [-1.12121318e-03 -2.61082058e-05 9.99999371e-01 -6.55995419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:-33.17, Z:-6.56 [[ 9.83395523e-01 1.81473038e-01 8.83770316e-04 2.72524359e+02] [-1.81472986e-01 9.83395920e-01 -1.38641981e-04 -3.31706433e+01] [-8.94255905e-04 -2.40405350e-05 9.99999600e-01 -6.56076842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.55, Y:-33.18, Z:-6.56 [[ 9.83208974e-01 1.82482726e-01 4.10180013e-04 2.72552296e+02] [-1.82482715e-01 9.83209059e-01 -6.49527083e-05 -3.31761586e+01] [-4.15145453e-04 -1.09886766e-05 9.99999914e-01 -6.56118438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.58, Y:-33.18, Z:-6.56 [[ 9.83035368e-01 1.83414548e-01 7.54460243e-04 2.72580306e+02] [-1.83414511e-01 9.83035657e-01 -1.18847558e-04 -3.31801893e+01] [-7.63459692e-04 -2.15476034e-05 9.99999708e-01 -6.56210926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.61, Y:-33.18, Z:-6.56 [[ 9.82933681e-01 1.83953313e-01 1.59910833e-03 2.72608457e+02] [-1.83953149e-01 9.82934981e-01 -2.49942945e-04 -3.31819352e+01] [-1.61779734e-03 -4.84836735e-05 9.99998690e-01 -6.56413573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:-33.19, Z:-6.57 [[ 9.83178166e-01 1.82648160e-01 5.86890212e-04 2.72637875e+02] [-1.82648137e-01 9.83178341e-01 -9.17774350e-05 -3.31856680e+01] [-5.93780724e-04 -1.69608338e-05 9.99999824e-01 -6.56513339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:-33.19, Z:-6.57 [[ 9.83346129e-01 1.81741610e-01 6.15059106e-04 2.72666037e+02] [-1.81741585e-01 9.83346321e-01 -9.69529153e-05 -3.31886112e+01] [-6.22436489e-04 -1.64435427e-05 9.99999806e-01 -6.56563475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96420382200006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.70, Y:-33.19, Z:-6.57 [[ 9.83586047e-01 1.80439686e-01 8.48246251e-05 2.72695070e+02] [-1.80439685e-01 9.83586051e-01 -1.42985053e-05 -3.31907796e+01] [-8.60123362e-05 -1.24191839e-06 9.99999996e-01 -6.56820681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:-33.19, Z:-6.57 [[ 9.84144831e-01 1.77366635e-01 -1.70309271e-04 2.72723423e+02] [-1.77366634e-01 9.84144845e-01 2.50403691e-05 -3.31916263e+01] [ 1.72050317e-04 5.56383226e-06 9.99999985e-01 -6.56672209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.75, Y:-33.19, Z:-6.57 [[ 9.84454616e-01 1.75638776e-01 -3.59865674e-04 2.72751310e+02] [-1.75638768e-01 9.84454682e-01 5.44753888e-05 -3.31935646e+01] [ 3.63839438e-04 9.57781576e-06 9.99999934e-01 -6.57047788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.78, Y:-33.19, Z:-6.57 [[ 9.85224342e-01 1.71266885e-01 -8.06779177e-04 2.72780365e+02] [-1.71266841e-01 9.85224672e-01 1.24057621e-04 -3.31938982e+01] [ 8.16105712e-04 1.59499334e-05 9.99999667e-01 -6.57074207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:-33.20, Z:-6.57 [[ 9.85650747e-01 1.68796855e-01 -4.76184790e-04 2.72809143e+02] [-1.68796839e-01 9.85650862e-01 7.27178866e-05 -3.31966361e+01] [ 4.81626499e-04 8.70404831e-06 9.99999884e-01 -6.56826506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:-33.20, Z:-6.57 [[ 9.86412728e-01 1.64286120e-01 -1.85677985e-05 2.72836718e+02] [-1.64286120e-01 9.86412728e-01 1.34435970e-06 -3.31975602e+01] [ 1.85363720e-05 1.72433805e-06 1.00000000e+00 -6.56979556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:-33.20, Z:-6.57 [[ 9.86800506e-01 1.61940518e-01 -1.72574109e-04 2.72865565e+02] [-1.61940516e-01 9.86800521e-01 2.56601335e-05 -3.32008454e+01] [ 1.74451636e-04 2.62530767e-06 9.99999985e-01 -6.57014056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:-33.20, Z:-6.57 [[ 9.87529458e-01 1.57433628e-01 -4.71478599e-04 2.72894422e+02] [-1.57433611e-01 9.87529571e-01 7.19133521e-05 -3.32013219e+01] [ 4.76920638e-04 3.21002491e-06 9.99999886e-01 -6.57118113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:-33.20, Z:-6.57 [[ 9.87915969e-01 1.54990174e-01 -2.91275723e-04 2.72921708e+02] [-1.54990168e-01 9.87916012e-01 4.36942499e-05 -3.32040272e+01] [ 2.94528130e-04 1.97862594e-06 9.99999957e-01 -6.57219024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:-33.21, Z:-6.57 [[ 9.88314398e-01 1.52429088e-01 -1.55104288e-04 2.72949228e+02] [-1.52429086e-01 9.88314410e-01 2.26448138e-05 -3.32079297e+01] [ 1.56743531e-04 1.26220935e-06 9.99999988e-01 -6.57285877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:-33.21, Z:-6.57 [[ 9.89227629e-01 1.46384905e-01 -3.97015094e-04 2.72978280e+02] [-1.46384892e-01 9.89227709e-01 6.08503475e-05 -3.32120877e+01] [ 4.01645904e-04 -2.07783316e-06 9.99999919e-01 -6.57286787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29420382200004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:273.01, Y:-33.22, Z:-6.58 [[ 9.89936585e-01 1.41510752e-01 5.13613435e-04 2.73005984e+02] [-1.41510730e-01 9.89936719e-01 -8.03755226e-05 -3.32175189e+01] [-5.19818800e-04 6.88485837e-06 9.99999865e-01 -6.57779136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:-33.22, Z:-6.57 [[ 9.90193427e-01 1.39701216e-01 7.40250957e-04 2.73034185e+02] [-1.39701169e-01 9.90193703e-01 -1.15120351e-04 -3.32241947e+01] [-7.49074290e-04 1.05774912e-05 9.99999719e-01 -6.57467072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35420382200004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:273.06, Y:-33.23, Z:-6.58 [[ 9.90508965e-01 1.37447984e-01 2.04693275e-04 2.73063464e+02] [-1.37447981e-01 9.90508986e-01 -3.22395974e-05 -3.32299343e+01] [-2.07181796e-04 3.79893299e-06 9.99999979e-01 -6.57953594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:-33.23, Z:-6.58 [[ 9.90519498e-01 1.37371874e-01 3.04341098e-04 2.73092028e+02] [-1.37371866e-01 9.90519545e-01 -4.76820608e-05 -3.32344077e+01] [-3.08005980e-04 5.42210641e-06 9.99999953e-01 -6.57573854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:-33.24, Z:-6.58 [[ 9.90281211e-01 1.39076658e-01 -8.97611477e-04 2.73121252e+02] [-1.39076589e-01 9.90281618e-01 1.38226287e-04 -3.32387967e+01] [ 9.08112195e-04 -1.20461521e-05 9.99999588e-01 -6.57674731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:273.15, Y:-33.24, Z:-6.58 [[ 9.90030392e-01 1.40845819e-01 -1.50956879e-03 2.73149770e+02] [-1.40845628e-01 9.90031542e-01 2.32199541e-04 -3.32443842e+01] [ 1.52722505e-03 -1.72684380e-05 9.99998834e-01 -6.58146174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47420382200005 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:273.18, Y:-33.25, Z:-6.58 [[ 9.89466403e-01 1.44761358e-01 -6.22013283e-04 2.73177094e+02] [-1.44761327e-01 9.89466598e-01 9.46696423e-05 -3.32515640e+01] [ 6.29165873e-04 -3.62896226e-06 9.99999802e-01 -6.58081349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:273.21, Y:-33.26, Z:-6.58 [[ 9.89159250e-01 1.46845551e-01 -6.02407581e-04 2.73205166e+02] [-1.46845523e-01 9.89159433e-01 9.16082300e-05 -3.32552514e+01] [ 6.09329402e-04 -2.15427179e-06 9.99999814e-01 -6.58100827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:273.23, Y:-33.26, Z:-6.58 [[ 9.88491475e-01 1.51270332e-01 -1.37504008e-03 2.73233546e+02] [-1.51270184e-01 9.88492431e-01 2.11187749e-04 -3.32581694e+01] [ 1.39116315e-03 -7.54723201e-07 9.99999032e-01 -6.58216317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.26, Y:-33.26, Z:-6.58 [[ 9.88175607e-01 1.53320755e-01 -1.30969423e-03 2.73260582e+02] [-1.53320624e-01 9.88176475e-01 2.00734472e-04 -3.32622427e+01] [ 1.32498579e-03 2.44222744e-06 9.99999122e-01 -6.58237709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.29, Y:-33.27, Z:-6.58 [[ 9.87607281e-01 1.56944656e-01 -4.83435867e-04 2.73289562e+02] [-1.56944639e-01 9.87607399e-01 7.34615746e-05 -3.32666063e+01] [ 4.88974240e-04 3.32148154e-06 9.99999880e-01 -6.57892195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.32, Y:-33.27, Z:-6.58 [[ 9.87308840e-01 1.58810407e-01 7.12832577e-04 2.73318347e+02] [-1.58810368e-01 9.87309098e-01 -1.11105874e-04 -3.32709847e+01] [-7.21430858e-04 -3.50939221e-06 9.99999740e-01 -6.57906322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65420382200006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:273.35, Y:-33.27, Z:-6.58 [[ 9.86639300e-01 1.62896742e-01 2.74630327e-03 2.73345935e+02] [-1.62896190e-01 9.86643122e-01 -4.24875432e-04 -3.32744985e+01] [-2.77883205e-03 -2.81635407e-05 9.99996139e-01 -6.58333938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.37, Y:-33.28, Z:-6.58 [[ 9.86047497e-01 1.66451153e-01 2.08513804e-03 2.73374466e+02] [-1.66450843e-01 9.86049701e-01 -3.22532597e-04 -3.32766168e+01] [-2.10973566e-03 -2.90405239e-05 9.99997774e-01 -6.57942323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.40, Y:-33.28, Z:-6.58 [[ 9.85834860e-01 1.67705673e-01 2.10608975e-03 2.73401838e+02] [-1.67705360e-01 9.85837109e-01 -3.25908366e-04 -3.32801258e+01] [-2.13091812e-03 -3.19107107e-05 9.99997729e-01 -6.58007387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.43, Y:-33.28, Z:-6.58 [[ 9.85645605e-01 1.68806951e-01 2.63707269e-03 2.73430640e+02] [-1.68806465e-01 9.85649132e-01 -4.07307291e-04 -3.32838212e+01] [-2.66798471e-03 -4.36942778e-05 9.99996440e-01 -6.58069532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:-33.28, Z:-6.58 [[ 9.85383251e-01 1.70316360e-01 3.49080389e-03 2.73458217e+02] [-1.70315519e-01 9.85389432e-01 -5.38857391e-04 -3.32848869e+01] [-3.53157749e-03 -6.35570280e-05 9.99993762e-01 -6.58107672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.49, Y:-33.29, Z:-6.58 [[ 9.85389262e-01 1.70281577e-01 3.49091040e-03 2.73487212e+02] [-1.70280739e-01 9.85395444e-01 -5.38165651e-04 -3.32892661e+01] [-3.53156690e-03 -6.41321483e-05 9.99993762e-01 -6.58175190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:-33.29, Z:-6.58 [[ 9.85268211e-01 1.70991883e-01 2.88581846e-03 2.73515725e+02] [-1.70991312e-01 9.85272436e-01 -4.45193427e-04 -3.32916630e+01] [-2.91944185e-03 -5.48149546e-05 9.99995737e-01 -6.58206562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.54, Y:-33.29, Z:-6.58 [[ 9.84964321e-01 1.72748351e-01 1.81473750e-03 2.73543956e+02] [-1.72748127e-01 9.84965992e-01 -2.80541155e-04 -3.32926831e+01] [-1.83591774e-03 -3.71694752e-05 9.99998314e-01 -6.58282407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89420382200007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:273.57, Y:-33.29, Z:-6.59 [[ 9.84810817e-01 1.73622564e-01 1.69103328e-03 2.73572238e+02] [-1.73622371e-01 9.84812268e-01 -2.61397127e-04 -3.32941721e+01] [-1.71073476e-03 -3.61744901e-05 9.99998536e-01 -6.58832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.60, Y:-33.29, Z:-6.59 [[ 9.84684466e-01 1.74342365e-01 1.11445109e-03 2.73600343e+02] [-1.74342281e-01 9.84685096e-01 -1.72646360e-04 -3.32919717e+01] [-1.12748295e-03 -2.42937558e-05 9.99999364e-01 -6.58520739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.63, Y:-33.29, Z:-6.59 [[ 9.84720986e-01 1.74138918e-01 4.65013468e-04 2.73629427e+02] [-1.74138903e-01 9.84721096e-01 -7.25681827e-05 -3.32931816e+01] [-4.70545517e-04 -9.51752270e-06 9.99999889e-01 -6.58975747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.66, Y:-33.29, Z:-6.59 [[ 9.85311667e-01 1.70765632e-01 -1.37038004e-04 2.73658003e+02] [-1.70765631e-01 9.85311676e-01 1.96508817e-05 -3.32934376e+01] [ 1.38380840e-04 4.03913811e-06 9.99999990e-01 -6.58659372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.68, Y:-33.29, Z:-6.59 [[ 9.85778771e-01 1.68047683e-01 -4.36331384e-04 2.73684689e+02] [-1.68047671e-01 9.85778868e-01 6.51042739e-05 -3.32948576e+01] [ 4.41066880e-04 9.14606184e-06 9.99999903e-01 -6.58820511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.71, Y:-33.30, Z:-6.59 [[ 9.86865260e-01 1.61527881e-01 -2.38801109e-03 2.73713891e+02] [-1.61527470e-01 9.86868149e-01 3.65296065e-04 -3.32952088e+01] [ 2.41565758e-03 2.52313934e-05 9.99997082e-01 -6.59350816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.74, Y:-33.30, Z:-6.59 [[ 9.87490380e-01 1.57660388e-01 -2.43973950e-03 2.73741602e+02] [-1.57659948e-01 9.87493393e-01 3.72794380e-04 -3.32989998e+01] [ 2.46800154e-03 1.65183375e-05 9.99996954e-01 -6.59085254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.77, Y:-33.30, Z:-6.59 [[ 9.88580707e-01 1.50689173e-01 -9.79534673e-04 2.73769540e+02] [-1.50689100e-01 9.88581192e-01 1.48788997e-04 -3.33001516e+01] [ 9.90770446e-04 5.15266347e-07 9.99999509e-01 -6.59139981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.80, Y:-33.30, Z:-6.59 [[ 9.89004534e-01 1.47883038e-01 -7.99792149e-04 2.73797615e+02] [-1.47882988e-01 9.89004857e-01 1.21211443e-04 -3.33025957e+01] [ 8.08923436e-04 -1.60301324e-06 9.99999673e-01 -6.59159333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.83, Y:-33.31, Z:-6.59 [[ 9.89613486e-01 1.43752688e-01 -5.59959566e-04 2.73826175e+02] [-1.43752664e-01 9.89613644e-01 8.46872534e-05 -3.33071873e+01] [ 5.66317646e-04 -3.31196901e-06 9.99999840e-01 -6.59188605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.85, Y:-33.31, Z:-6.59 [[ 9.89840033e-01 1.42185473e-01 -1.07900600e-05 2.73854455e+02] [-1.42185473e-01 9.89840033e-01 5.12851711e-07 -3.33113400e+01] [ 1.07533530e-05 1.02654862e-06 1.00000000e+00 -6.59188986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:273.88, Y:-33.31, Z:-6.60 [[ 9.89920534e-01 1.41620834e-01 9.35750684e-04 2.73882938e+02] [-1.41620760e-01 9.89920976e-01 -1.44418342e-04 -3.33145168e+01] [-9.46771877e-04 1.04409591e-05 9.99999552e-01 -6.59607279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.91, Y:-33.32, Z:-6.59 [[ 9.90078702e-01 1.40509034e-01 1.17264262e-03 2.73910993e+02] [-1.40508918e-01 9.90079396e-01 -1.80891546e-04 -3.33160040e+01] [-1.18642620e-03 1.43301199e-05 9.99999296e-01 -6.59288450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28420382200005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:273.94, Y:-33.32, Z:-6.60 [[ 9.89982258e-01 1.41189515e-01 -8.06487384e-04 2.73939584e+02] [-1.41189462e-01 9.89982586e-01 1.22255799e-04 -3.33178469e+01] [ 8.15669703e-04 -7.16355221e-06 9.99999667e-01 -6.59678070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:273.97, Y:-33.32, Z:-6.60 [[ 9.89903785e-01 1.41736169e-01 -1.16411839e-03 2.73966919e+02] [-1.41736059e-01 9.89904469e-01 1.76618270e-04 -3.33213532e+01] [ 1.17739919e-03 -9.83754161e-06 9.99999307e-01 -6.59696952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.00, Y:-33.32, Z:-6.60 [[ 9.89677166e-01 1.43283440e-01 -2.99386303e-03 2.73995595e+02] [-1.43282714e-01 9.89681694e-01 4.56586017e-04 -3.33246733e+01] [ 3.02839265e-03 -2.29039344e-05 9.99995414e-01 -6.59515760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374203822 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:274.02, Y:-33.33, Z:-6.60 [[ 9.89419823e-01 1.45042175e-01 -3.34383533e-03 2.74023137e+02] [-1.45041281e-01 9.89425473e-01 5.09600611e-04 -3.33276916e+01] [ 3.38238943e-03 -1.92147870e-05 9.99994280e-01 -6.59997704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:274.05, Y:-33.33, Z:-6.60 [[ 9.89179324e-01 1.46679730e-01 -3.05305522e-03 2.74051238e+02] [-1.46678995e-01 9.89184036e-01 4.64660816e-04 -3.33309609e+01] [ 3.08818981e-03 -1.18138013e-05 9.99995231e-01 -6.59990144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.08, Y:-33.33, Z:-6.60 [[ 9.88793089e-01 1.49284594e-01 -1.52846972e-03 2.74078044e+02] [-1.49284416e-01 9.88794271e-01 2.30666247e-04 -3.33324100e+01] [ 1.54577702e-03 9.55183360e-08 9.99998805e-01 -6.59671324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.11, Y:-33.34, Z:-6.60 [[ 9.88622941e-01 1.50410550e-01 -1.16094074e-03 2.74105550e+02] [-1.50410447e-01 9.88623622e-01 1.75387839e-04 -3.33352553e+01] [ 1.17411362e-03 1.22517551e-06 9.99999311e-01 -6.59783246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.13, Y:-33.34, Z:-6.60 [[ 9.88695518e-01 1.49929417e-01 -1.53063577e-03 2.74131588e+02] [-1.49929238e-01 9.88696703e-01 2.31379763e-04 -3.33402188e+01] [ 1.54802517e-03 7.22920086e-07 9.99998802e-01 -6.59889489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.16, Y:-33.34, Z:-6.60 [[ 9.89044421e-01 1.47596580e-01 -2.52644863e-03 2.74158858e+02] [-1.47596083e-01 9.89047648e-01 3.83287180e-04 -3.33440965e+01] [ 2.55534995e-03 -6.19412623e-06 9.99996735e-01 -6.59919161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.19, Y:-33.35, Z:-6.60 [[ 9.89216704e-01 1.46439314e-01 -2.41641514e-03 2.74185124e+02] [-1.46438856e-01 9.89219656e-01 3.66031210e-04 -3.33483194e+01] [ 2.44396671e-03 -8.22711788e-06 9.99997013e-01 -6.60028273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.21, Y:-33.35, Z:-6.60 [[ 9.89428570e-01 1.45014663e-01 -1.36096616e-03 2.74211866e+02] [-1.45014518e-01 9.89429506e-01 2.05186035e-04 -3.33537480e+01] [ 1.37633506e-03 -5.65707274e-06 9.99999053e-01 -6.59980692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:-33.36, Z:-6.60 [[ 9.89452364e-01 1.44851574e-01 -1.42836377e-03 2.74240259e+02] [-1.44851413e-01 9.89453395e-01 2.16179271e-04 -3.33577166e+01] [ 1.44461329e-03 -6.99857923e-06 9.99998957e-01 -6.59957674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.27, Y:-33.36, Z:-6.60 [[ 9.89455022e-01 1.44839546e-01 -5.14527184e-04 2.74268168e+02] [-1.44839526e-01 9.89455156e-01 7.68016105e-05 -3.33607060e+01] [ 5.20225486e-04 -1.46786593e-06 9.99999865e-01 -6.60011977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:274.30, Y:-33.37, Z:-6.60 [[ 9.89436544e-01 1.44965709e-01 -5.17759652e-04 2.74295559e+02] [-1.44965689e-01 9.89436680e-01 7.72950335e-05 -3.33652772e+01] [ 5.23495520e-04 -1.42114616e-06 9.99999863e-01 -6.60374052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.32, Y:-33.37, Z:-6.60 [[ 9.89537439e-01 1.44276318e-01 -1.28786049e-05 2.74322652e+02] [-1.44276318e-01 9.89537439e-01 5.49001431e-07 -3.33728019e+01] [ 1.28230692e-05 1.31482021e-06 1.00000000e+00 -6.60149310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.35, Y:-33.38, Z:-6.60 [[ 9.89614582e-01 1.43746028e-01 -2.40039520e-04 2.74350988e+02] [-1.43746024e-01 9.89614612e-01 3.53249196e-05 -3.33786228e+01] [ 2.42624433e-04 -4.53328985e-07 9.99999971e-01 -6.60147559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.38, Y:-33.39, Z:-6.60 [[ 9.89784774e-01 1.42564804e-01 1.17347957e-03 2.74377623e+02] [-1.42564691e-01 9.89785470e-01 -1.79755251e-04 -3.33854303e+01] [-1.18711980e-03 1.06222578e-05 9.99999295e-01 -6.60137679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:274.41, Y:-33.39, Z:-6.61 [[ 9.89832201e-01 1.42230389e-01 1.65218881e-03 2.74406040e+02] [-1.42230167e-01 9.89833580e-01 -2.51976775e-04 -3.33904101e+01] [-1.67123072e-03 1.44236360e-05 9.99998603e-01 -6.60525636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:-33.40, Z:-6.60 [[ 9.89858340e-01 1.42048289e-01 1.65847049e-03 2.74433242e+02] [-1.42048064e-01 9.89859729e-01 -2.53106667e-04 -3.33962472e+01] [-1.67760652e-03 1.49572237e-05 9.99998593e-01 -6.60177410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:-33.40, Z:-6.60 [[ 9.89890949e-01 1.41820324e-01 1.70416882e-03 2.74461415e+02] [-1.41820087e-01 9.89892416e-01 -2.59671136e-04 -3.34023516e+01] [-1.72377044e-03 1.53607359e-05 9.99998514e-01 -6.60260221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.49, Y:-33.41, Z:-6.60 [[ 9.89898046e-01 1.41777056e-01 1.06098692e-03 2.74487615e+02] [-1.41776963e-01 9.89898614e-01 -1.62421215e-04 -3.34120072e+01] [-1.07329709e-03 1.03569391e-05 9.99999424e-01 -6.60367970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:274.52, Y:-33.42, Z:-6.61 [[ 9.89850614e-01 1.42111305e-01 -3.72061956e-04 2.74515596e+02] [-1.42111294e-01 9.89850684e-01 5.52557701e-05 -3.34178784e+01] [ 3.76138251e-04 -1.82075191e-06 9.99999929e-01 -6.60880999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.54, Y:-33.43, Z:-6.61 [[ 9.89630827e-01 1.43628234e-01 -1.32529604e-03 2.74543182e+02] [-1.43628096e-01 9.89631714e-01 1.99679476e-04 -3.34265659e+01] [ 1.34023460e-03 -7.25921812e-06 9.99999102e-01 -6.60577476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.57, Y:-33.43, Z:-6.61 [[ 9.89374766e-01 1.45383447e-01 -1.10690491e-03 2.74570046e+02] [-1.45383352e-01 9.89375385e-01 1.66236168e-04 -3.34330550e+01] [ 1.11931246e-03 -3.54432398e-06 9.99999374e-01 -6.60637740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.60, Y:-33.44, Z:-6.61 [[ 9.88645656e-01 1.50257950e-01 -1.52162037e-03 2.74598126e+02] [-1.50257775e-01 9.88646827e-01 2.29259558e-04 -3.34409562e+01] [ 1.53879323e-03 1.97882562e-06 9.99998816e-01 -6.60519084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.63, Y:-33.45, Z:-6.61 [[ 9.87610729e-01 1.56920324e-01 -1.02948071e-03 2.74626216e+02] [-1.56920248e-01 9.87611266e-01 1.54677166e-04 -3.34450818e+01] [ 1.04099874e-03 8.78553981e-06 9.99999458e-01 -6.60568851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.65, Y:-33.45, Z:-6.61 [[ 9.87058750e-01 1.60354461e-01 -1.21239319e-03 2.74653931e+02] [-1.60354359e-01 9.87059495e-01 1.82010583e-04 -3.34496943e+01] [ 1.22589042e-03 1.47573933e-05 9.99999248e-01 -6.60636117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.68, Y:-33.45, Z:-6.61 [[ 9.85942289e-01 1.67083790e-01 -8.99497647e-04 2.74681406e+02] [-1.67083737e-01 9.85942700e-01 1.34626376e-04 -3.34547091e+01] [ 9.09347023e-04 1.75575910e-05 9.99999586e-01 -6.60690198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.71, Y:-33.46, Z:-6.61 [[ 9.85470113e-01 1.69848601e-01 -3.30868875e-04 2.74709578e+02] [-1.69848595e-01 9.85470168e-01 4.83982842e-05 -3.34577327e+01] [ 3.34281786e-04 8.50255081e-06 9.99999944e-01 -6.60730552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.74, Y:-33.46, Z:-6.61 [[ 9.84799707e-01 1.73693576e-01 2.81394458e-04 2.74737537e+02] [-1.73693570e-01 9.84799747e-01 -4.41405345e-05 -3.34574609e+01] [-2.84784119e-04 -5.40682272e-06 9.99999959e-01 -6.60793042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.77, Y:-33.46, Z:-6.61 [[ 9.84674433e-01 1.74402228e-01 -3.52878845e-04 2.74765334e+02] [-1.74402220e-01 9.84674496e-01 5.15666216e-05 -3.34586831e+01] [ 3.56464132e-04 1.07665201e-05 9.99999936e-01 -6.60877780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.79, Y:-33.46, Z:-6.61 [[ 9.84729346e-01 1.74089441e-01 -9.90269859e-04 2.74792806e+02] [-1.74089381e-01 9.84729844e-01 1.47464243e-04 -3.34564685e+01] [ 1.00082025e-03 2.71830995e-05 9.99999499e-01 -6.60977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.82, Y:-33.46, Z:-6.61 [[ 9.84947018e-01 1.72855347e-01 -6.33326144e-04 2.74821140e+02] [-1.72855322e-01 9.84947221e-01 9.39042449e-05 -3.34582773e+01] [ 6.40024677e-04 1.69830889e-05 9.99999795e-01 -6.61118710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.85, Y:-33.46, Z:-6.61 [[ 9.85874720e-01 1.67482672e-01 -7.68438311e-04 2.74849409e+02] [-1.67482634e-01 9.85875020e-01 1.14143022e-04 -3.34599660e+01] [ 7.76701113e-04 1.61693522e-05 9.99999698e-01 -6.61171928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.88, Y:-33.46, Z:-6.61 [[ 9.86535907e-01 1.63540568e-01 -1.17808887e-03 2.74877345e+02] [-1.63540474e-01 9.86536610e-01 1.76132559e-04 -3.34626945e+01] [ 1.19103261e-03 1.89041171e-05 9.99999291e-01 -6.61254950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.91, Y:-33.46, Z:-6.61 [[ 9.87890059e-01 1.55150566e-01 -1.23825541e-03 2.74906028e+02] [-1.55150455e-01 9.87890835e-01 1.85365424e-04 -3.34636951e+01] [ 1.25202072e-03 8.99523175e-06 9.99999216e-01 -6.61401861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.93, Y:-33.47, Z:-6.61 [[ 9.88553324e-01 1.50867057e-01 -1.20677411e-03 2.74934106e+02] [-1.50866950e-01 9.88554061e-01 1.80243144e-04 -3.34665430e+01] [ 1.22015419e-03 3.88236903e-06 9.99999256e-01 -6.61481232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.96, Y:-33.47, Z:-6.62 [[ 9.89797207e-01 1.42468379e-01 -2.06175176e-03 2.74963223e+02] [-1.42468043e-01 9.89799354e-01 3.09250821e-04 -3.34690353e+01] [ 2.08477902e-03 -1.23618604e-05 9.99997827e-01 -6.61571833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.99, Y:-33.47, Z:-6.62 [[ 9.90390753e-01 1.38284618e-01 -1.87629691e-03 2.74990712e+02] [-1.38284334e-01 9.90392530e-01 2.80938199e-04 -3.34720813e+01] [ 1.89711987e-03 -1.87761251e-05 9.99998200e-01 -6.61640430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45420382200007 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:275.02, Y:-33.47, Z:-6.62 [[ 9.91335356e-01 1.31332475e-01 -2.44812484e-03 2.75019278e+02] [-1.31331968e-01 9.91338378e-01 3.67125835e-04 -3.34724501e+01] [ 2.47513565e-03 -4.24277661e-05 9.99996936e-01 -6.62066466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.05, Y:-33.48, Z:-6.62 [[ 9.91702896e-01 1.28530031e-01 -2.32307582e-03 2.75046720e+02] [-1.28529568e-01 9.91705616e-01 3.47885385e-04 -3.34761992e+01] [ 2.34852105e-03 -4.64150119e-05 9.99997241e-01 -6.61840066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.07, Y:-33.48, Z:-6.62 [[ 9.92221145e-01 1.24453335e-01 -2.92689002e-03 2.75074750e+02] [-1.24452582e-01 9.92225459e-01 4.38866004e-04 -3.34805547e+01] [ 2.95875313e-03 -7.11931095e-05 9.99995620e-01 -6.61907811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:275.10, Y:-33.48, Z:-6.62 [[ 9.92370888e-01 1.23251181e-01 -3.02777182e-03 2.75101911e+02] [-1.23250371e-01 9.92375504e-01 4.53393406e-04 -3.34839954e+01] [ 3.06056786e-03 -7.67604178e-05 9.99995314e-01 -6.62356758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.13, Y:-33.49, Z:-6.62 [[ 9.92550509e-01 1.21816982e-01 -2.02738924e-03 2.75129889e+02] [-1.21816617e-01 9.92552578e-01 3.03133777e-04 -3.34864854e+01] [ 2.04921726e-03 -5.39058866e-05 9.99997899e-01 -6.62040224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.16, Y:-33.49, Z:-6.62 [[ 9.92548825e-01 1.21835928e-01 -1.68393524e-03 2.75157142e+02] [-1.21835677e-01 9.92550253e-01 2.51459694e-04 -3.34901754e+01] [ 1.70202717e-03 -4.44226347e-05 9.99998551e-01 -6.62036465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634203822 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:275.18, Y:-33.50, Z:-6.62 [[ 9.92446992e-01 1.22649994e-01 -2.43862610e-03 2.75184850e+02] [-1.22649467e-01 9.92449986e-01 3.64877787e-04 -3.34964829e+01] [ 2.46496670e-03 -6.30256710e-05 9.99996960e-01 -6.62492428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.21, Y:-33.50, Z:-6.62 [[ 9.92459657e-01 1.22551517e-01 -2.22611089e-03 2.75211969e+02] [-1.22551079e-01 9.92462152e-01 3.32567688e-04 -3.35026823e+01] [ 2.25008748e-03 -5.72477211e-05 9.99997467e-01 -6.62215464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.24, Y:-33.51, Z:-6.62 [[ 9.92464041e-01 1.22516007e-01 -2.22603825e-03 2.75240979e+02] [-1.22515568e-01 9.92466536e-01 3.33051781e-04 -3.35069515e+01] [ 2.25007264e-03 -5.78175772e-05 9.99997467e-01 -6.62282984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.27, Y:-33.51, Z:-6.62 [[ 9.92265785e-01 1.24123349e-01 -1.41613147e-03 2.75269018e+02] [-1.24123174e-01 9.92266795e-01 2.11199209e-04 -3.35113095e+01] [ 1.43139498e-03 -3.37910164e-05 9.99998975e-01 -6.62297947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.30, Y:-33.51, Z:-6.63 [[ 9.92062812e-01 1.25725583e-01 -2.11065070e-03 2.75297077e+02] [-1.25725197e-01 9.92065056e-01 3.15226150e-04 -3.35148157e+01] [ 2.13353480e-03 -4.73621659e-05 9.99997723e-01 -6.62701035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78420382200005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:275.32, Y:-33.52, Z:-6.63 [[ 9.91585927e-01 1.29433122e-01 -2.10154998e-03 2.75324677e+02] [-1.29432749e-01 9.91588153e-01 3.13449236e-04 -3.35205195e+01] [ 2.12444278e-03 -3.88024610e-05 9.99997743e-01 -6.62850643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.35, Y:-33.53, Z:-6.63 [[ 9.91340033e-01 1.31318408e-01 -6.43877359e-04 2.75351711e+02] [-1.31318374e-01 9.91340242e-01 9.50221663e-05 -3.35255559e+01] [ 6.50779696e-04 -9.64634969e-06 9.99999788e-01 -6.62589086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.38, Y:-33.53, Z:-6.63 [[ 9.90766913e-01 1.35556469e-01 -2.31700017e-03 2.75380132e+02] [-1.35556031e-01 9.90769622e-01 3.45742705e-04 -3.35318519e+01] [ 2.34248104e-03 -2.84670874e-05 9.99997256e-01 -6.62677841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:-33.54, Z:-6.63 [[ 9.90506736e-01 1.37438739e-01 -2.64543767e-03 2.75407447e+02] [-1.37438176e-01 9.90510269e-01 3.94466434e-04 -3.35372714e+01] [ 2.67454814e-03 -2.71375334e-05 9.99996423e-01 -6.62752419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.44, Y:-33.54, Z:-6.63 [[ 9.89904490e-01 1.41720596e-01 -2.09123589e-03 2.75435969e+02] [-1.41720253e-01 9.89906699e-01 3.11705311e-04 -3.35411932e+01] [ 2.11430348e-03 -1.21880068e-05 9.99997765e-01 -6.62839337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.46, Y:-33.54, Z:-6.63 [[ 9.89604287e-01 1.43789117e-01 -2.83632457e-03 2.75464713e+02] [-1.43788495e-01 9.89608352e-01 4.23016880e-04 -3.35444752e+01] [ 2.86767570e-03 -1.07884770e-05 9.99995888e-01 -6.63189385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96420382200006 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:275.49, Y:-33.55, Z:-6.63 [[ 9.89072842e-01 1.47414814e-01 -1.94569158e-03 2.75492012e+02] [-1.47414530e-01 9.89074756e-01 2.89411419e-04 -3.35496252e+01] [ 1.96709795e-03 5.74234491e-07 9.99998065e-01 -6.63398616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99420382200003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:275.52, Y:-33.55, Z:-6.63 [[ 9.88884963e-01 1.48664921e-01 -2.29569746e-03 2.75521097e+02] [-1.48664528e-01 9.88887628e-01 3.41914435e-04 -3.35529520e+01] [ 2.32101749e-03 3.17473571e-06 9.99997306e-01 -6.63416827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02420382200006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:275.55, Y:-33.55, Z:-6.64 [[ 9.88637846e-01 1.50290701e-01 -2.81323592e-03 2.75549073e+02] [-1.50290118e-01 9.88641849e-01 4.18724623e-04 -3.35532160e+01] [ 2.84421318e-03 8.83455003e-06 9.99995955e-01 -6.63514361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.58, Y:-33.56, Z:-6.64 [[ 9.88746945e-01 1.49584302e-01 -2.00375043e-03 2.75576346e+02] [-1.49584006e-01 9.88748975e-01 2.97678282e-04 -3.35601928e+01] [ 2.02573418e-03 5.40052475e-06 9.99997948e-01 -6.63659104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.60, Y:-33.57, Z:-6.63 [[ 9.88928580e-01 1.48391661e-01 -4.21682553e-04 2.75603156e+02] [-1.48391648e-01 9.88928670e-01 6.14929036e-05 -3.35662684e+01] [ 4.26139000e-04 1.76207929e-06 9.99999909e-01 -6.63438278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.63, Y:-33.57, Z:-6.63 [[ 9.89114714e-01 1.47146463e-01 -3.02091137e-05 2.75632004e+02] [-1.47146463e-01 9.89114715e-01 3.36246487e-06 -3.35704474e+01] [ 3.03750533e-05 1.11930075e-06 1.00000000e+00 -6.63422465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.66, Y:-33.57, Z:-6.64 [[ 9.89523679e-01 1.44370337e-01 3.06198017e-04 2.75659598e+02] [-1.44370329e-01 9.89523727e-01 -4.70856002e-05 -3.35739580e+01] [-3.09787967e-04 2.38640788e-06 9.99999952e-01 -6.63541815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17420382200004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:275.69, Y:-33.58, Z:-6.64 [[ 9.89728334e-01 1.42959925e-01 -5.33747991e-04 2.75687834e+02] [-1.42959904e-01 9.89728478e-01 7.84320147e-05 -3.35788331e+01] [ 5.39478221e-04 -1.32182582e-06 9.99999854e-01 -6.64038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.72, Y:-33.59, Z:-6.64 [[ 9.90124108e-01 1.40188405e-01 -1.20926971e-03 2.75715927e+02] [-1.40188291e-01 9.90124846e-01 1.79071960e-04 -3.35853870e+01] [ 1.22243180e-03 -7.77801030e-06 9.99999253e-01 -6.63661922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23420382200004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:275.74, Y:-33.59, Z:-6.64 [[ 9.90250696e-01 1.39283317e-01 -1.92797456e-03 2.75744708e+02] [-1.39283024e-01 9.90252573e-01 2.86035133e-04 -3.35900659e+01] [ 1.94902169e-03 -1.47123633e-05 9.99998101e-01 -6.64061371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.77, Y:-33.60, Z:-6.64 [[ 9.90532096e-01 1.37281029e-01 2.92431156e-04 2.75772236e+02] [-1.37281022e-01 9.90532139e-01 -4.50211460e-05 -3.35978689e+01] [-2.95843008e-04 4.44964211e-06 9.99999956e-01 -6.63746041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:-33.60, Z:-6.64 [[ 9.90645210e-01 1.36455836e-01 1.36818077e-03 2.75799475e+02] [-1.36455683e-01 9.90646155e-01 -2.05057639e-04 -3.36039834e+01] [-1.38336433e-03 1.64433273e-05 9.99999043e-01 -6.63733312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:-33.61, Z:-6.64 [[ 9.90647647e-01 1.36420550e-01 2.58324850e-03 2.75827157e+02] [-1.36420008e-01 9.90651015e-01 -3.85744972e-04 -3.36090732e+01] [-2.61172129e-03 2.97305684e-05 9.99996589e-01 -6.63764959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35420382200004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:275.85, Y:-33.62, Z:-6.64 [[ 9.90543531e-01 1.37166588e-01 2.97330681e-03 2.75854863e+02] [-1.37165875e-01 9.90547993e-01 -4.43362294e-04 -3.36156950e+01] [-3.00601758e-03 3.13334221e-05 9.99995481e-01 -6.64219698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:275.88, Y:-33.62, Z:-6.64 [[ 9.90466819e-01 1.37738897e-01 1.86448185e-03 2.75881840e+02] [-1.37738617e-01 9.90468574e-01 -2.78592368e-04 -3.36204967e+01] [-1.88508369e-03 1.91253454e-05 9.99998223e-01 -6.64196788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.91, Y:-33.63, Z:-6.64 [[ 9.90299261e-01 1.38932765e-01 2.24948513e-03 2.75910306e+02] [-1.38932362e-01 9.90301816e-01 -3.35440665e-04 -3.36264762e+01] [-2.27427291e-03 1.96603604e-05 9.99997414e-01 -6.63888124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.94, Y:-33.63, Z:-6.64 [[ 9.89919438e-01 1.41614711e-01 2.18626160e-03 2.75938919e+02] [-1.41614337e-01 9.89921852e-01 -3.25937717e-04 -3.36324329e+01] [-2.21038571e-03 1.30460948e-05 9.99997557e-01 -6.63936178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:-33.64, Z:-6.64 [[ 9.89712842e-01 1.43055721e-01 1.88424136e-03 2.75967251e+02] [-1.43055445e-01 9.89714636e-01 -2.81016637e-04 -3.36371462e+01] [-1.90506229e-03 8.57478937e-06 9.99998185e-01 -6.63974010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:276.00, Y:-33.64, Z:-6.65 [[ 9.89503232e-01 1.44504625e-01 1.32939696e-03 2.75995970e+02] [-1.44504489e-01 9.89504125e-01 -1.98546984e-04 -3.36412365e+01] [-1.34413474e-03 4.35905319e-06 9.99999097e-01 -6.64502563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.02, Y:-33.65, Z:-6.64 [[ 9.89221574e-01 1.46422423e-01 1.07276119e-03 2.76024528e+02] [-1.46422336e-01 9.89222156e-01 -1.60383241e-04 -3.36462677e+01] [-1.08468284e-03 1.57836416e-06 9.99999412e-01 -6.64160842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.05, Y:-33.65, Z:-6.64 [[ 9.89163826e-01 1.46810458e-01 1.27105081e-03 2.76052060e+02] [-1.46810335e-01 9.89164642e-01 -1.90013432e-04 -3.36524580e+01] [-1.28517448e-03 1.35101733e-06 9.99999174e-01 -6.64299120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.08, Y:-33.66, Z:-6.64 [[ 9.89241177e-01 1.46290227e-01 1.03098555e-03 2.76080329e+02] [-1.46290146e-01 9.89241714e-01 -1.54105690e-04 -3.36583372e+01] [-1.04243807e-03 1.62466728e-06 9.99999457e-01 -6.64281967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.11, Y:-33.66, Z:-6.64 [[ 9.89411323e-01 1.45137170e-01 6.60194039e-04 2.76107494e+02] [-1.45137136e-01 9.89411543e-01 -9.93550022e-05 -3.36637783e+01] [-6.67623708e-04 2.48429205e-06 9.99999777e-01 -6.64339025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:276.14, Y:-33.67, Z:-6.65 [[ 9.89477383e-01 1.44687080e-01 3.96384217e-04 2.76136302e+02] [-1.44687067e-01 9.89477463e-01 -5.98980667e-05 -3.36680153e+01] [-4.00879726e-04 1.91611231e-06 9.99999920e-01 -6.64764001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.16, Y:-33.67, Z:-6.64 [[ 9.89686891e-01 1.43241135e-01 1.35503109e-03 2.76163959e+02] [-1.43240992e-01 9.89687818e-01 -2.02172666e-04 -3.36747274e+01] [-1.37001720e-03 5.99163966e-06 9.99999062e-01 -6.64478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.19, Y:-33.68, Z:-6.65 [[ 9.89743491e-01 1.42845964e-01 1.68916058e-03 2.76192134e+02] [-1.42845743e-01 9.89744932e-01 -2.51283429e-04 -3.36810411e+01] [-1.70773295e-03 7.41673904e-06 9.99998542e-01 -6.64549425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74420382200003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:276.22, Y:-33.69, Z:-6.65 [[ 9.89653952e-01 1.43459835e-01 2.08121350e-03 2.76219980e+02] [-1.43459502e-01 9.89656140e-01 -3.09239572e-04 -3.36877892e+01] [-2.10404917e-03 7.47031285e-06 9.99997786e-01 -6.64972589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.25, Y:-33.69, Z:-6.65 [[ 9.89626572e-01 1.43638707e-01 2.67761836e-03 2.76247102e+02] [-1.43638157e-01 9.89630194e-01 -3.97638232e-04 -3.36927686e+01] [-2.70696822e-03 8.90519452e-06 9.99996336e-01 -6.64526291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.28, Y:-33.70, Z:-6.65 [[ 9.89533327e-01 1.44290314e-01 2.02497574e-03 2.76275514e+02] [-1.44290000e-01 9.89535399e-01 -3.00702131e-04 -3.36977624e+01] [-2.04717358e-03 5.37103057e-06 9.99997905e-01 -6.64583428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.30, Y:-33.70, Z:-6.65 [[ 9.89500632e-01 1.44524315e-01 1.10553218e-03 2.76302639e+02] [-1.44524221e-01 9.89501249e-01 -1.64904918e-04 -3.37021668e+01] [-1.11775824e-03 3.39734334e-06 9.99999375e-01 -6.64695658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.33, Y:-33.71, Z:-6.65 [[ 9.89304239e-01 1.45866075e-01 4.59422605e-04 2.76331318e+02] [-1.45866058e-01 9.89304346e-01 -6.90661535e-05 -3.37085980e+01] [-4.64583188e-04 1.31327393e-06 9.99999892e-01 -6.64795546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.36, Y:-33.71, Z:-6.65 [[ 9.89133438e-01 1.47020109e-01 3.60430776e-04 2.76360110e+02] [-1.47020099e-01 9.89133503e-01 -5.44164363e-05 -3.37130943e+01] [-3.64514467e-04 8.34548445e-07 9.99999934e-01 -6.65252380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.39, Y:-33.72, Z:-6.65 [[ 9.88581220e-01 1.50685558e-01 -1.01678288e-03 2.76389025e+02] [-1.50685485e-01 9.88581743e-01 1.49029154e-04 -3.37179283e+01] [ 1.02762954e-03 5.88699864e-06 9.99999472e-01 -6.64853095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:-33.73, Z:-6.64 [[ 9.88378132e-01 1.52012896e-01 -8.64581213e-04 2.76415499e+02] [-1.51974543e-01 9.88228582e-01 1.75501482e-02 -3.37326592e+01] [ 3.52225272e-03 -1.72147884e-02 9.99845610e-01 -6.64029941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.45, Y:-33.72, Z:-6.65 [[ 9.88005141e-01 1.54383199e-01 -3.41600322e-03 2.76446171e+02] [-1.54419064e-01 9.87861469e-01 -1.68662607e-02 -3.37164531e+01] [ 7.70670677e-04 1.71914483e-02 9.99851919e-01 -6.65026468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.47, Y:-33.73, Z:-6.65 [[ 9.87653152e-01 1.56656350e-01 -1.96943791e-04 2.76472658e+02] [-1.56656348e-01 9.87653172e-01 2.76397541e-05 -3.37276872e+01] [ 1.98842102e-04 3.55400478e-06 9.99999980e-01 -6.65026598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:-33.73, Z:-6.65 [[ 9.87619616e-01 1.56866549e-01 6.16271007e-04 2.76501041e+02] [-1.56866522e-01 9.87619808e-01 -9.19710334e-05 -3.37317656e+01] [-6.23068633e-04 -5.83989299e-06 9.99999806e-01 -6.65098228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.53, Y:-33.73, Z:-6.65 [[ 9.87734411e-01 1.56136149e-01 1.49577998e-03 2.76528697e+02] [-1.56135992e-01 9.87735543e-01 -2.21957337e-04 -3.37343924e+01] [-1.51209061e-03 -1.43101915e-05 9.99998857e-01 -6.65141857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.56, Y:-33.74, Z:-6.65 [[ 9.88056942e-01 1.54088252e-01 5.39243107e-04 2.76557345e+02] [-1.54088231e-01 9.88057089e-01 -8.06139039e-05 -3.37354936e+01] [-5.45224631e-04 -3.43988888e-06 9.99999851e-01 -6.65261734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.58, Y:-33.74, Z:-6.65 [[ 9.88258084e-01 1.52793262e-01 -4.23189276e-04 2.76584899e+02] [-1.52793250e-01 9.88258174e-01 6.09066370e-05 -3.37403739e+01] [ 4.27526384e-04 4.46898841e-06 9.99999909e-01 -6.65339810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.61, Y:-33.74, Z:-6.65 [[ 9.88584176e-01 1.50668568e-01 -5.56253747e-04 2.76612966e+02] [-1.50668547e-01 9.88584333e-01 8.04874004e-05 -3.37438540e+01] [ 5.62030660e-04 4.24137331e-06 9.99999842e-01 -6.65372822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.64, Y:-33.75, Z:-6.65 [[ 9.88706454e-01 1.49863525e-01 -6.87477820e-04 2.76641507e+02] [-1.49863492e-01 9.88706693e-01 1.00050504e-04 -3.37469017e+01] [ 6.94707842e-04 4.10724778e-06 9.99999759e-01 -6.65444950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.67, Y:-33.75, Z:-6.66 [[ 9.88870310e-01 1.48775276e-01 -1.19458698e-03 2.76670183e+02] [-1.48775174e-01 9.88871032e-01 1.74624442e-04 -3.37498803e+01] [ 1.20727226e-03 5.04396032e-06 9.99999271e-01 -6.65509708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.70, Y:-33.75, Z:-6.66 [[ 9.89203318e-01 1.46545358e-01 -1.11936067e-03 2.76697975e+02] [-1.46545268e-01 9.89203952e-01 1.63086127e-04 -3.37523518e+01] [ 1.13117551e-03 2.71167094e-06 9.99999360e-01 -6.65513563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.73, Y:-33.76, Z:-6.66 [[ 9.89537085e-01 1.44275903e-01 -9.06161313e-04 2.76726128e+02] [-1.44275842e-01 9.89537500e-01 1.32058034e-04 -3.37578012e+01] [ 9.15733392e-04 6.08643710e-08 9.99999581e-01 -6.65555021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.75, Y:-33.76, Z:-6.66 [[ 9.89703797e-01 1.43126214e-01 -1.13210869e-03 2.76754684e+02] [-1.43126119e-01 9.89704444e-01 1.65219303e-04 -3.37621657e+01] [ 1.14410022e-03 -1.48384803e-06 9.99999346e-01 -6.65625675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.78, Y:-33.76, Z:-6.66 [[ 9.89983812e-01 1.41179435e-01 -6.46853959e-04 2.76783540e+02] [-1.41179404e-01 9.89984024e-01 9.38720636e-05 -3.37649151e+01] [ 6.53627889e-04 -1.60936710e-06 9.99999786e-01 -6.65640258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:-33.77, Z:-6.66 [[ 9.90108434e-01 1.40304065e-01 2.41004535e-04 2.76811110e+02] [-1.40304060e-01 9.90108463e-01 -3.68336133e-05 -3.37691421e+01] [-2.43788536e-04 2.65535637e-06 9.99999970e-01 -6.65702582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.84, Y:-33.77, Z:-6.66 [[ 9.90205858e-01 1.39615003e-01 9.61626463e-05 2.76840028e+02] [-1.39615002e-01 9.90205863e-01 -1.52542788e-05 -3.37727882e+01] [-9.73505427e-05 1.67912819e-06 9.99999995e-01 -6.66077475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.87, Y:-33.78, Z:-6.66 [[ 9.90232531e-01 1.39425633e-01 -1.63286718e-04 2.76867612e+02] [-1.39425631e-01 9.90232545e-01 2.25440071e-05 -3.37773211e+01] [ 1.64835034e-04 4.42544448e-07 9.99999986e-01 -6.65720472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.90, Y:-33.78, Z:-6.66 [[ 9.90144886e-01 1.40043732e-01 -9.26531665e-04 2.76896247e+02] [-1.40043668e-01 9.90145319e-01 1.34775765e-04 -3.37835995e+01] [ 9.36275492e-04 -3.69264160e-06 9.99999562e-01 -6.65756984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.92, Y:-33.79, Z:-6.66 [[ 9.90001985e-01 1.41044141e-01 -1.61884052e-03 2.76924437e+02] [-1.41043943e-01 9.90003308e-01 2.36250641e-04 -3.37873684e+01] [ 1.63597924e-03 -5.56095363e-06 9.99998662e-01 -6.65857171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:-33.79, Z:-6.66 [[ 9.89919107e-01 1.41615092e-01 -2.30814940e-03 2.76952843e+02] [-1.41614691e-01 9.89921798e-01 3.37169844e-04 -3.37917511e+01] [ 2.33263574e-03 -6.90300732e-06 9.99997279e-01 -6.65903927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:276.98, Y:-33.80, Z:-6.66 [[ 9.89618787e-01 1.43686909e-01 -2.95441054e-03 2.76979804e+02] [-1.43686261e-01 9.89623197e-01 4.31424312e-04 -3.37964970e+01] [ 2.98574323e-03 -2.43739912e-06 9.99995543e-01 -6.66351715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.01, Y:-33.80, Z:-6.66 [[ 9.89398059e-01 1.45206778e-01 -2.54406986e-03 2.77008923e+02] [-1.45206302e-01 9.89401330e-01 3.71490224e-04 -3.38006910e+01] [ 2.57104900e-03 1.86326988e-06 9.99996695e-01 -6.65966267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.04, Y:-33.80, Z:-6.66 [[ 9.89409533e-01 1.45128574e-01 -2.54419798e-03 2.77037951e+02] [-1.45128100e-01 9.89412804e-01 3.70614982e-04 -3.38048381e+01] [ 2.57104888e-03 2.54462257e-06 9.99996695e-01 -6.66033736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:-33.81, Z:-6.66 [[ 9.88904819e-01 1.48541171e-01 -1.66746902e-03 2.77066463e+02] [-1.48540973e-01 9.88906224e-01 2.42871657e-04 -3.38071451e+01] [ 1.68504693e-03 7.51051888e-06 9.99998580e-01 -6.66047515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.10, Y:-33.81, Z:-6.66 [[ 9.88656688e-01 1.50189305e-01 -1.06121411e-03 2.77095463e+02] [-1.50189227e-01 9.88657257e-01 1.54088093e-04 -3.38106809e+01] [ 1.07231941e-03 7.04270226e-06 9.99999425e-01 -6.66060530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.12, Y:-33.81, Z:-6.66 [[ 9.88229236e-01 1.52979924e-01 -3.46228439e-04 2.77123745e+02] [-1.52979917e-01 9.88229297e-01 4.91879813e-05 -3.38120251e+01] [ 3.49677860e-04 4.35699648e-06 9.99999939e-01 -6.65951567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.15, Y:-33.81, Z:-6.66 [[ 9.88039638e-01 1.54199872e-01 2.70402471e-04 2.77151686e+02] [-1.54199867e-01 9.88039675e-01 -4.09446953e-05 -3.38136903e+01] [-2.73482036e-04 -1.24104300e-06 9.99999963e-01 -6.65997340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:-33.82, Z:-6.66 [[ 9.87815663e-01 1.55627804e-01 4.49169434e-04 2.77179703e+02] [-1.55627789e-01 9.87815766e-01 -6.69723180e-05 -3.38157571e+01] [-4.54119404e-04 -3.74694140e-06 9.99999897e-01 -6.66113508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.21, Y:-33.82, Z:-6.66 [[ 9.87815806e-01 1.55627420e-01 -1.97037166e-04 2.77207874e+02] [-1.55627418e-01 9.87815826e-01 2.76586557e-05 -3.38200553e+01] [ 1.98940876e-04 3.34272802e-06 9.99999980e-01 -6.66211493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.24, Y:-33.83, Z:-6.66 [[ 9.88034672e-01 1.54230097e-01 -7.51598282e-04 2.77235614e+02] [-1.54230059e-01 9.88034958e-01 1.08333662e-04 -3.38256654e+01] [ 7.59313688e-04 8.88163360e-06 9.99999712e-01 -6.66389051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.26, Y:-33.83, Z:-6.66 [[ 9.88254066e-01 1.52814291e-01 -1.30151878e-03 2.77263738e+02] [-1.52814175e-01 9.88254923e-01 1.88854888e-04 -3.38292830e+01] [ 1.31509206e-03 1.22539074e-05 9.99999135e-01 -6.66455275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.29, Y:-33.83, Z:-6.67 [[ 9.88693489e-01 1.49937190e-01 -2.00611840e-03 2.77292824e+02] [-1.49936907e-01 9.88695524e-01 2.91584395e-04 -3.38315799e+01] [ 2.02715963e-03 1.25035964e-05 9.99997945e-01 -6.66503043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:277.32, Y:-33.83, Z:-6.67 [[ 9.89172267e-01 1.46742274e-01 -2.22045497e-03 2.77321819e+02] [-1.46741919e-01 9.89174760e-01 3.22690972e-04 -3.38347071e+01] [ 2.24377041e-03 6.63686274e-06 9.99997483e-01 -6.66906066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.35, Y:-33.84, Z:-6.67 [[ 9.89415886e-01 1.45086321e-01 -2.48291290e-03 2.77349269e+02] [-1.45085873e-01 9.89419001e-01 3.60398921e-04 -3.38392495e+01] [ 2.50893016e-03 3.65116863e-06 9.99996853e-01 -6.66534919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.38, Y:-33.85, Z:-6.67 [[ 9.89919688e-01 1.41589668e-01 -3.37314831e-03 2.77377828e+02] [-1.41588819e-01 9.89925434e-01 4.90385875e-04 -3.38462773e+01] [ 3.40859888e-03 -7.84254599e-06 9.99994191e-01 -6.66606147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:-33.85, Z:-6.67 [[ 9.90153590e-01 1.39949012e-01 -3.18456370e-03 2.77406129e+02] [-1.39948248e-01 9.90158711e-01 4.62708329e-04 -3.38516319e+01] [ 3.21797907e-03 -1.24782029e-05 9.99994822e-01 -6.66642985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:-33.86, Z:-6.67 [[ 9.90406891e-01 1.38177210e-01 -1.11795967e-03 2.77433980e+02] [-1.38177116e-01 9.90407521e-01 1.61290484e-04 -3.38558967e+01] [ 1.12952234e-03 -5.26676382e-06 9.99999362e-01 -6.66614620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:-33.86, Z:-6.67 [[ 9.90453266e-01 1.37846045e-01 -8.92022993e-04 2.77462681e+02] [-1.37845985e-01 9.90453668e-01 1.28698597e-04 -3.38604279e+01] [ 9.01248037e-04 -4.50815783e-06 9.99999594e-01 -6.66627997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.49, Y:-33.87, Z:-6.67 [[ 9.90452443e-01 1.37844958e-01 -1.65078482e-03 2.77490762e+02] [-1.37844751e-01 9.90453819e-01 2.39049688e-04 -3.38678405e+01] [ 1.66797792e-03 -9.21532564e-06 9.99998609e-01 -6.66678026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124203822 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:277.52, Y:-33.87, Z:-6.67 [[ 9.90423863e-01 1.38048825e-01 -1.75908536e-03 2.77518172e+02] [-1.38048591e-01 9.90425425e-01 2.54417122e-04 -3.38728861e+01] [ 1.77736485e-03 -9.14153325e-06 9.99998420e-01 -6.67185497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:-33.88, Z:-6.67 [[ 9.90228979e-01 1.39440458e-01 -1.71078369e-03 2.77546527e+02] [-1.39440238e-01 9.90230457e-01 2.47902955e-04 -3.38797043e+01] [ 1.72863782e-03 -6.92860487e-06 9.99998506e-01 -6.66746282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.57, Y:-33.89, Z:-6.67 [[ 9.90169629e-01 1.39860366e-01 -1.78432466e-03 2.77574406e+02] [-1.39860128e-01 9.90171237e-01 2.58204740e-04 -3.38855958e+01] [ 1.80289956e-03 -6.11061660e-06 9.99998375e-01 -6.66793524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:-33.89, Z:-6.67 [[ 9.90037526e-01 1.40794761e-01 -1.59111008e-03 2.77602521e+02] [-1.40794573e-01 9.90038805e-01 2.30030329e-04 -3.38942358e+01] [ 1.60764778e-03 -3.71899437e-06 9.99998708e-01 -6.66722654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.63, Y:-33.90, Z:-6.67 [[ 9.90004005e-01 1.41030735e-01 -1.54959800e-03 2.77629600e+02] [-1.41030558e-01 9.90005218e-01 2.23610859e-04 -3.39000507e+01] [ 1.56564611e-03 -2.83497526e-06 9.99998774e-01 -6.66744519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.66, Y:-33.91, Z:-6.67 [[ 9.89963547e-01 1.41315344e-01 -1.46582617e-03 2.77658150e+02] [-1.41315185e-01 9.89964633e-01 2.11671589e-04 -3.39059166e+01] [ 1.48102850e-03 -2.40366102e-06 9.99998903e-01 -6.66785499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.69, Y:-33.92, Z:-6.67 [[ 9.89993610e-01 1.41110997e-01 -5.81568494e-04 2.77685283e+02] [-1.41110972e-01 9.89993781e-01 8.35578639e-05 -3.39153199e+01] [ 5.87540125e-04 -6.56055703e-07 9.99999827e-01 -6.66810942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.71, Y:-33.92, Z:-6.67 [[ 9.90005292e-01 1.41028526e-01 -6.89780098e-04 2.77714679e+02] [-1.41028490e-01 9.90005533e-01 1.00123812e-04 -3.39238187e+01] [ 6.97006427e-04 -1.84445804e-06 9.99999757e-01 -6.66851876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:-33.93, Z:-6.67 [[ 9.89959023e-01 1.41345684e-01 -1.59064729e-03 2.77743823e+02] [-1.41345495e-01 9.89960301e-01 2.31167681e-04 -3.39289390e+01] [ 1.60735222e-03 -4.01570448e-06 9.99998708e-01 -6.66929876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:277.77, Y:-33.94, Z:-6.67 [[ 9.89771488e-01 1.42641441e-01 -2.41267101e-03 2.77771571e+02] [-1.42641013e-01 9.89774428e-01 3.49317347e-04 -3.39364337e+01] [ 2.43782720e-03 -1.59851268e-06 9.99997028e-01 -6.67454523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.80, Y:-33.94, Z:-6.67 [[ 9.89617892e-01 1.43713463e-01 -1.69378682e-03 2.77800220e+02] [-1.43713254e-01 9.89619341e-01 2.45212955e-04 -3.39436927e+01] [ 1.71144460e-03 7.52488316e-07 9.99998535e-01 -6.67161597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.83, Y:-33.95, Z:-6.67 [[ 9.89378395e-01 1.45340401e-01 -2.56109950e-03 2.77829921e+02] [-1.45339926e-01 9.89381710e-01 3.71624793e-04 -3.39547306e+01] [ 2.58791710e-03 4.55247122e-06 9.99996651e-01 -6.67199538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:277.86, Y:-33.96, Z:-6.68 [[ 9.89308144e-01 1.45790653e-01 -3.80553977e-03 2.77859335e+02] [-1.45789608e-01 9.89315463e-01 5.52197573e-04 -3.39623702e+01] [ 3.84538458e-03 8.51459345e-06 9.99992606e-01 -6.67562323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:-33.97, Z:-6.67 [[ 9.88982039e-01 1.48020705e-01 -2.09682273e-03 2.77887728e+02] [-1.48020393e-01 9.88984262e-01 3.03946996e-04 -3.39721360e+01] [ 2.11871513e-03 9.77440565e-06 9.99997755e-01 -6.67225189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.92, Y:-33.98, Z:-6.67 [[ 9.88751818e-01 1.49549733e-01 -2.17271884e-03 2.77918179e+02] [-1.49549401e-01 9.88754205e-01 3.15242296e-04 -3.39776935e+01] [ 2.19542929e-03 1.32324074e-05 9.99997590e-01 -6.67234463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.95, Y:-33.98, Z:-6.67 [[ 9.88203790e-01 1.53140405e-01 -1.13421524e-03 2.77946457e+02] [-1.53140316e-01 9.88204441e-01 1.64848078e-04 -3.39848018e+01] [ 1.14608144e-03 1.07905856e-05 9.99999343e-01 -6.67286879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:-33.99, Z:-6.67 [[ 9.87882638e-01 1.55199965e-01 -9.30099973e-04 2.77975501e+02] [-1.55199907e-01 9.87883075e-01 1.34674258e-04 -3.39898981e+01] [ 9.39731462e-04 1.13090674e-05 9.99999558e-01 -6.67351393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.01, Y:-34.00, Z:-6.67 [[ 9.87062397e-01 1.60310065e-01 -2.91687572e-03 2.78005066e+02] [-1.60309514e-01 9.87066705e-01 4.23212265e-04 -3.39957994e+01] [ 2.94699609e-03 4.98660162e-05 9.99995656e-01 -6.67475490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:-34.00, Z:-6.68 [[ 9.86679822e-01 1.62632151e-01 -3.70305320e-03 2.78034068e+02] [-1.62631278e-01 9.86686768e-01 5.37597180e-04 -3.40010589e+01] [ 3.74118418e-03 7.17959853e-05 9.99992999e-01 -6.67531791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694203822 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.06, Y:-34.00, Z:-6.68 [[ 9.86020816e-01 1.66579495e-01 -3.77123640e-03 2.78062698e+02] [-1.66578623e-01 9.86028024e-01 5.46241520e-04 -3.40046907e+01] [ 3.80953741e-03 8.96018580e-05 9.99992740e-01 -6.67744806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.09, Y:-34.01, Z:-6.68 [[ 9.85708997e-01 1.68412465e-01 -3.87493114e-03 2.78092700e+02] [-1.68411558e-01 9.85716608e-01 5.61482285e-04 -3.40077337e+01] [ 3.91414460e-03 9.91250500e-05 9.99992335e-01 -6.67623241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.12, Y:-34.01, Z:-6.67 [[ 9.85402234e-01 1.70183675e-01 -4.46695197e-03 2.78120964e+02] [-1.70156616e-01 9.85399564e-01 5.86731478e-03 -3.40125165e+01] [ 5.40025371e-03 -5.02158366e-03 9.99972810e-01 -6.67413756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.15, Y:-34.01, Z:-6.68 [[ 9.85370909e-01 1.70330328e-01 -5.63485165e-03 2.78150543e+02] [-1.70355982e-01 9.85372605e-01 -4.43485763e-03 -3.40096147e+01] [ 4.79703769e-03 5.32991038e-03 9.99974290e-01 -6.67892822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.18, Y:-34.01, Z:-6.68 [[ 9.85758506e-01 1.68123891e-01 -3.81118314e-03 2.78179457e+02] [-1.68123013e-01 9.85765869e-01 5.51817108e-04 -3.40145661e+01] [ 3.84970790e-03 9.67891864e-05 9.99992585e-01 -6.67944139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:-34.02, Z:-6.68 [[ 9.86114059e-01 1.66040209e-01 -3.11642644e-03 2.78208669e+02] [-1.66039612e-01 9.86118981e-01 4.51029584e-04 -3.40190409e+01] [ 3.14805631e-03 7.26836244e-05 9.99995042e-01 -6.67962801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:-34.02, Z:-6.68 [[ 9.86935735e-01 1.61089997e-01 -2.80488131e-03 2.78238438e+02] [-1.61089493e-01 9.86939720e-01 4.06134662e-04 -3.40220201e+01] [ 2.83367301e-03 5.10080981e-05 9.99995984e-01 -6.67929052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90420382200006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:278.27, Y:-34.02, Z:-6.68 [[ 9.87421256e-01 1.58074816e-01 -3.40823856e-03 2.78268844e+02] [-1.58074053e-01 9.87427136e-01 4.93843142e-04 -3.40240870e+01] [ 3.44345141e-03 5.11228680e-05 9.99994070e-01 -6.68328921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:-34.03, Z:-6.68 [[ 9.88340054e-01 1.52248298e-01 -2.09617138e-03 2.78297808e+02] [-1.52247997e-01 9.88342276e-01 3.03728698e-04 -3.40276771e+01] [ 2.11797697e-03 1.89506558e-05 9.99997757e-01 -6.68142715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.33, Y:-34.03, Z:-6.68 [[ 9.88738284e-01 1.49646198e-01 -1.61875185e-03 2.78326807e+02] [-1.49646015e-01 9.88739609e-01 2.33963329e-04 -3.40325116e+01] [ 1.63553579e-03 1.09112637e-05 9.99998662e-01 -6.68186133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.36, Y:-34.04, Z:-6.68 [[ 9.89429326e-01 1.45000151e-01 -2.13654955e-03 2.78357836e+02] [-1.44986359e-01 9.89417784e-01 5.60390164e-03 -3.40390204e+01] [ 2.92650670e-03 -5.23489408e-03 9.99982016e-01 -6.67906455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.39, Y:-34.04, Z:-6.68 [[ 9.89737006e-01 1.42880755e-01 -2.39782274e-03 2.78388515e+02] [-1.42891160e-01 9.89726038e-01 -4.94832857e-03 -3.40372378e+01] [ 1.66616668e-03 5.24017157e-03 9.99984882e-01 -6.68352578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:-34.05, Z:-6.68 [[ 9.90380125e-01 1.38370644e-01 -8.78790641e-04 2.78418656e+02] [-1.38370585e-01 9.90380515e-01 1.27935885e-04 -3.40476611e+01] [ 8.88039698e-04 -5.10638307e-06 9.99999606e-01 -6.68372526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.45, Y:-34.05, Z:-6.68 [[ 9.90620747e-01 1.36630191e-01 -1.65119858e-03 2.78448709e+02] [-1.36629982e-01 9.90622123e-01 2.39338546e-04 -3.40534185e+01] [ 1.66841471e-03 -1.14904977e-05 9.99998608e-01 -6.68440275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.48, Y:-34.06, Z:-6.69 [[ 9.90900555e-01 1.34544185e-01 -3.73520059e-03 2.78479898e+02] [-1.34543097e-01 9.90907595e-01 5.42084685e-04 -3.40580484e+01] [ 3.77417297e-03 -3.46065592e-05 9.99992877e-01 -6.68736590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.51, Y:-34.06, Z:-6.69 [[ 9.90775892e-01 1.35453117e-01 -3.94787675e-03 2.78509074e+02] [-1.35451913e-01 9.90783756e-01 5.72001478e-04 -3.40633177e+01] [ 3.98897154e-03 -3.19778168e-05 9.99992044e-01 -6.68863776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:-34.07, Z:-6.69 [[ 9.90601104e-01 1.36747001e-01 -3.11605904e-03 2.78539413e+02] [-1.36746256e-01 9.90606005e-01 4.51707515e-04 -3.40681498e+01] [ 3.14855644e-03 -2.13525555e-05 9.99995043e-01 -6.68734460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.57, Y:-34.07, Z:-6.69 [[ 9.90401124e-01 1.38191968e-01 -2.93141046e-03 2.78568647e+02] [-1.38191316e-01 9.90405462e-01 4.24620524e-04 -3.40730071e+01] [ 2.96196408e-03 -1.54491736e-05 9.99995613e-01 -6.68889178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.60, Y:-34.08, Z:-6.69 [[ 9.90027606e-01 1.40820562e-01 -3.86117869e-03 2.78598478e+02] [-1.40819450e-01 9.90035135e-01 5.59672866e-04 -3.40803327e+01] [ 3.90151601e-03 -1.03625297e-05 9.99992389e-01 -6.68919411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:-34.08, Z:-6.69 [[ 9.89529432e-01 1.44307785e-01 -2.60128846e-03 2.78628108e+02] [-1.44307294e-01 9.89532851e-01 3.76733007e-04 -3.40849191e+01] [ 2.62842589e-03 2.59649888e-06 9.99996546e-01 -6.68989258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:-34.09, Z:-6.69 [[ 9.89322005e-01 1.45720689e-01 -2.72958171e-03 2.78657939e+02] [-1.45720152e-01 9.89325771e-01 3.95614903e-04 -3.40898135e+01] [ 2.75809480e-03 6.36453271e-06 9.99996196e-01 -6.69096520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.69, Y:-34.09, Z:-6.69 [[ 9.88820979e-01 1.49066249e-01 -3.51067456e-03 2.78687983e+02] [-1.49065381e-01 9.88827211e-01 5.08823447e-04 -3.40937333e+01] [ 3.54729893e-03 2.01847428e-05 9.99993708e-01 -6.69128022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.72, Y:-34.10, Z:-6.69 [[ 9.88490186e-01 1.51240795e-01 -3.65717907e-03 2.78717982e+02] [-1.51239869e-01 9.88496950e-01 5.30057238e-04 -3.40964342e+01] [ 3.69527663e-03 2.91549056e-05 9.99993172e-01 -6.69228002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:-34.10, Z:-6.69 [[ 9.87708200e-01 1.56267511e-01 -3.60241847e-03 2.78746863e+02] [-1.56266650e-01 9.87714768e-01 5.21142624e-04 -3.40997952e+01] [ 3.63959958e-03 4.82010221e-05 9.99993375e-01 -6.69335038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:-34.10, Z:-6.69 [[ 9.87336711e-01 1.58601081e-01 -3.45188967e-03 2.78775645e+02] [-1.58600303e-01 9.87342744e-01 4.99534844e-04 -3.41046100e+01] [ 3.48742498e-03 5.42616587e-05 9.99993917e-01 -6.69361940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:-34.11, Z:-6.69 [[ 9.86822014e-01 1.61793222e-01 -2.29479818e-03 2.78804402e+02] [-1.61792889e-01 9.86824681e-01 3.31542746e-04 -3.41077787e+01] [ 2.31820485e-03 4.41083459e-05 9.99997312e-01 -6.69415204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47420382200005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.83, Y:-34.11, Z:-6.70 [[ 9.86675077e-01 1.62689512e-01 -2.10113022e-03 2.78833779e+02] [-1.62689234e-01 9.86677314e-01 3.03718351e-04 -3.41105424e+01] [ 2.12254931e-03 4.21599375e-05 9.99997747e-01 -6.69677095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.86, Y:-34.11, Z:-6.70 [[ 9.86681510e-01 1.62650490e-01 -2.10119416e-03 2.78863634e+02] [-1.62650213e-01 9.86683747e-01 3.03276632e-04 -3.41148131e+01] [ 2.12254222e-03 4.25222322e-05 9.99997747e-01 -6.69746583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53420382200005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.89, Y:-34.11, Z:-6.70 [[ 9.86657948e-01 1.62803016e-01 -1.12774210e-03 2.78893292e+02] [-1.62802936e-01 9.86658592e-01 1.62670069e-04 -3.41146381e+01] [ 1.13917962e-03 2.31000095e-05 9.99999351e-01 -6.69814917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.92, Y:-34.11, Z:-6.70 [[ 9.87021180e-01 1.60589901e-01 -2.73203374e-04 2.78922810e+02] [-1.60589896e-01 9.87021217e-01 3.92596865e-05 -3.41143500e+01] [ 2.75962236e-04 5.12355949e-06 9.99999962e-01 -6.69829671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.95, Y:-34.12, Z:-6.70 [[ 9.87419395e-01 1.58120932e-01 -8.42599493e-04 2.78952264e+02] [-1.58120886e-01 9.87419754e-01 1.21666050e-04 -3.41182177e+01] [ 8.51237333e-04 1.30971606e-05 9.99999638e-01 -6.69961527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.98, Y:-34.12, Z:-6.70 [[ 9.87903993e-01 1.55059503e-01 -1.50027134e-03 2.78981894e+02] [-1.55059352e-01 9.87905132e-01 2.17417143e-04 -3.41224264e+01] [ 1.51583835e-03 1.78438380e-05 9.99998851e-01 -6.70269953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.01, Y:-34.13, Z:-6.70 [[ 9.88881131e-01 1.48704441e-01 -1.04817070e-03 2.79012554e+02] [-1.48704364e-01 9.88881686e-01 1.51707918e-04 -3.41263423e+01] [ 1.05907645e-03 5.84645969e-06 9.99999439e-01 -6.70124430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:-34.13, Z:-6.70 [[ 9.89371092e-01 1.45408706e-01 -1.07287342e-03 2.79042605e+02] [-1.45408623e-01 9.89371673e-01 1.55283287e-04 -3.41295657e+01] [ 1.08405011e-03 2.37225074e-06 9.99999412e-01 -6.70198713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:-34.13, Z:-6.70 [[ 9.90210285e-01 1.39582902e-01 -4.51824684e-04 2.79072996e+02] [-1.39582887e-01 9.90210388e-01 6.56843996e-05 -3.41325957e+01] [ 4.56569915e-04 -1.97437434e-06 9.99999896e-01 -6.70251963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.10, Y:-34.14, Z:-6.70 [[ 9.90892874e-01 1.34650279e-01 7.84296410e-04 2.79103506e+02] [-1.34650231e-01 9.90893184e-01 -1.13256397e-04 -3.41363093e+01] [-7.92403973e-04 6.61926375e-06 9.99999686e-01 -6.70304840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:-34.14, Z:-6.70 [[ 9.91261646e-01 1.31907837e-01 8.20086327e-04 2.79133249e+02] [-1.31907784e-01 9.91261985e-01 -1.18450887e-04 -3.41402386e+01] [-8.28545001e-04 9.24005072e-06 9.99999657e-01 -6.70380671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:-34.15, Z:-6.70 [[ 9.91625798e-01 1.29141532e-01 8.60660017e-04 2.79164427e+02] [-1.29141473e-01 9.91626172e-01 -1.24059817e-04 -3.41450329e+01] [-8.69474273e-04 1.18740131e-05 9.99999622e-01 -6.70493621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:-34.15, Z:-6.71 [[ 9.92155198e-01 1.25005371e-01 1.31181517e-03 2.79196044e+02] [-1.25005234e-01 9.92156065e-01 -1.86102476e-04 -3.41504347e+01] [-1.32478918e-03 2.06587764e-05 9.99999122e-01 -6.70581329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.23, Y:-34.16, Z:-6.71 [[ 9.92278910e-01 1.24021418e-01 1.11914934e-03 2.79226886e+02] [-1.24021318e-01 9.92279541e-01 -1.58677859e-04 -3.41551594e+01] [-1.13018845e-03 1.86543170e-05 9.99999361e-01 -6.70673920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.26, Y:-34.16, Z:-6.71 [[ 9.92256169e-01 1.24205641e-01 8.08688937e-04 2.79257710e+02] [-1.24205589e-01 9.92256498e-01 -1.13838246e-04 -3.41602595e+01] [-8.16566206e-04 1.25130157e-05 9.99999667e-01 -6.70767755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:-34.17, Z:-6.71 [[ 9.92156527e-01 1.24998772e-01 8.56419536e-04 2.79288252e+02] [-1.24998711e-01 9.92156896e-01 -1.23913068e-04 -3.41655458e+01] [-8.65191531e-04 1.58898210e-05 9.99999626e-01 -6.70838171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:279.32, Y:-34.17, Z:-6.71 [[ 9.91723564e-01 1.28391285e-01 2.24215828e-04 2.79319131e+02] [-1.28391281e-01 9.91723590e-01 -3.20215162e-05 -3.41712159e+01] [-2.26471410e-04 2.96913477e-06 9.99999974e-01 -6.71155372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.35, Y:-34.18, Z:-6.71 [[ 9.91452262e-01 1.30468879e-01 5.32955043e-04 2.79350201e+02] [-1.30468856e-01 9.91452405e-01 -7.69022233e-05 -3.41764091e+01] [-5.38432907e-04 6.71084827e-06 9.99999855e-01 -6.70968193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.38, Y:-34.18, Z:-6.71 [[ 9.90876560e-01 1.34772561e-01 -9.81448240e-06 2.79379831e+02] [-1.34772561e-01 9.90876560e-01 1.71405210e-06 -3.41802302e+01] [ 9.95594734e-06 -3.75691116e-07 1.00000000e+00 -6.71265424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.41, Y:-34.19, Z:-6.71 [[ 9.90595090e-01 1.36823390e-01 8.52416708e-04 2.79409512e+02] [-1.36823334e-01 9.90595457e-01 -1.23931788e-04 -3.41858970e+01] [-8.61356886e-04 6.13572502e-06 9.99999629e-01 -6.71198814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.44, Y:-34.19, Z:-6.71 [[ 9.90089515e-01 1.40415067e-01 2.52229177e-03 2.79439885e+02] [-1.40414590e-01 9.90092727e-01 -3.66208046e-04 -3.41945466e+01] [-2.54872386e-03 8.41218200e-06 9.99996752e-01 -6.71227684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:279.47, Y:-34.20, Z:-6.71 [[ 9.89828058e-01 1.42260432e-01 1.54450520e-03 2.79471064e+02] [-1.42260261e-01 9.89829263e-01 -2.20882103e-04 -3.42002886e+01] [-1.56021923e-03 -1.08640927e-06 9.99998783e-01 -6.71487984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.50, Y:-34.21, Z:-6.71 [[ 9.89413699e-01 1.45112269e-01 1.72078989e-03 2.79501250e+02] [-1.45112053e-01 9.89415196e-01 -2.50265263e-04 -3.42066088e+01] [-1.73889223e-03 -2.09147516e-06 9.99998488e-01 -6.71423966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.53, Y:-34.21, Z:-6.71 [[ 9.89210011e-01 1.46493391e-01 1.79999215e-03 2.79533289e+02] [-1.46493163e-01 9.89211649e-01 -2.58403679e-04 -3.42130135e+01] [-1.81842764e-03 -8.07103822e-06 9.99998347e-01 -6.71494076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:-34.22, Z:-6.72 [[ 9.88766904e-01 1.49456603e-01 1.65353246e-03 2.79563922e+02] [-1.49456415e-01 9.88768286e-01 -2.37615778e-04 -3.42208066e+01] [-1.67047370e-03 -1.21844158e-05 9.99998605e-01 -6.71576268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:-34.23, Z:-6.72 [[ 9.88466872e-01 1.51428486e-01 1.63011964e-03 2.79594201e+02] [-1.51428305e-01 9.88468216e-01 -2.34501869e-04 -3.42262885e+01] [-1.64683171e-03 -1.50489249e-05 9.99998644e-01 -6.71656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.62, Y:-34.23, Z:-6.72 [[ 9.87678426e-01 1.56487677e-01 1.71308228e-03 2.79624009e+02] [-1.56487478e-01 9.87679911e-01 -2.50023780e-04 -3.42325078e+01] [-1.73110259e-03 -2.11328324e-05 9.99998501e-01 -6.71725175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:-34.24, Z:-6.72 [[ 9.87195020e-01 1.59511083e-01 1.48549073e-03 2.79654762e+02] [-1.59510937e-01 9.87196138e-01 -2.16518371e-04 -3.42378828e+01] [-1.50100779e-03 -2.32061606e-05 9.99998873e-01 -6.71845391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.68, Y:-34.24, Z:-6.72 [[ 9.86293209e-01 1.65000728e-01 6.82458740e-04 2.79683386e+02] [-1.65000699e-01 9.86293445e-01 -9.94680470e-05 -3.42443788e+01] [-6.89516882e-04 -1.45015096e-05 9.99999762e-01 -6.72009403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.71, Y:-34.25, Z:-6.72 [[ 9.85954176e-01 1.67014238e-01 7.79000947e-04 2.79714493e+02] [-1.67014200e-01 9.85954484e-01 -1.13306529e-04 -3.42490572e+01] [-7.86983280e-04 -1.83891748e-05 9.99999690e-01 -6.72107557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:-34.25, Z:-6.72 [[ 9.85660177e-01 1.68738524e-01 1.15140017e-03 2.79743875e+02] [-1.68738443e-01 9.85660849e-01 -1.68037737e-04 -3.42542221e+01] [-1.16324451e-03 -2.86573661e-05 9.99999323e-01 -6.72225283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:-34.26, Z:-6.72 [[ 9.85751795e-01 1.68201469e-01 1.29041925e-03 2.79774822e+02] [-1.68201367e-01 9.85752639e-01 -1.88120174e-04 -3.42611188e+01] [-1.30367628e-03 -3.16104840e-05 9.99999150e-01 -6.72268663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43420382200003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:279.81, Y:-34.27, Z:-6.73 [[ 9.86020694e-01 1.66616054e-01 1.51020827e-03 2.79806200e+02] [-1.66615917e-01 9.86021850e-01 -2.17158790e-04 -3.42694538e+01] [-1.52528049e-03 -3.75016737e-05 9.99998836e-01 -6.72562666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.84, Y:-34.28, Z:-6.72 [[ 9.86100064e-01 1.66138685e-01 2.14491939e-03 2.79838273e+02] [-1.66138404e-01 9.86102396e-01 -3.09850433e-04 -3.42761900e+01] [-2.16658830e-03 -5.08099534e-05 9.99997652e-01 -6.72339484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.87, Y:-34.29, Z:-6.72 [[ 9.86281145e-01 1.65063230e-01 1.90623127e-03 2.79870302e+02] [-1.65063006e-01 9.86282986e-01 -2.75245668e-04 -3.42853897e+01] [-1.92551641e-03 -4.31786515e-05 9.99998145e-01 -6.72397109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.90, Y:-34.29, Z:-6.72 [[ 9.86365969e-01 1.64550530e-01 2.30166244e-03 2.79902607e+02] [-1.64550199e-01 9.86368654e-01 -3.33683950e-04 -3.42920501e+01] [-2.32519555e-03 -4.96045198e-05 9.99997295e-01 -6.72447560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:-34.30, Z:-6.73 [[ 9.86435872e-01 1.64127892e-01 2.51118583e-03 2.79934137e+02] [-1.64127491e-01 9.86439067e-01 -3.66541117e-04 -3.42980516e+01] [-2.53729143e-03 -5.05853228e-05 9.99996780e-01 -6.72647488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.97, Y:-34.30, Z:-6.73 [[ 9.86463786e-01 1.63969166e-01 1.81946879e-03 2.79965216e+02] [-1.63968959e-01 9.86465464e-01 -2.63744973e-04 -3.43039266e+01] [-1.83808917e-03 -3.81615381e-05 9.99998310e-01 -6.72769799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:-34.31, Z:-6.73 [[ 9.86400765e-01 1.64350736e-01 1.53827780e-03 2.79996986e+02] [-1.64350589e-01 9.86401964e-01 -2.22347027e-04 -3.43127614e+01] [-1.55390314e-03 -3.34935853e-05 9.99998792e-01 -6.72863588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:-34.32, Z:-6.73 [[ 9.86192926e-01 1.65596207e-01 1.18735911e-03 2.80028259e+02] [-1.65596121e-01 9.86193640e-01 -1.71114819e-04 -3.43185788e+01] [-1.19930197e-03 -2.78698399e-05 9.99999280e-01 -6.72936523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.06, Y:-34.32, Z:-6.73 [[ 9.85505082e-01 1.69644299e-01 -7.37976040e-04 2.80059924e+02] [-1.69644262e-01 9.85505359e-01 1.13230991e-04 -3.43218559e+01] [ 7.46488334e-04 1.36036832e-05 9.99999721e-01 -6.73019317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.09, Y:-34.32, Z:-6.73 [[ 9.84704307e-01 1.74231704e-01 -8.60398500e-04 2.80091924e+02] [-1.74231656e-01 9.84704683e-01 1.31390462e-04 -3.43237647e+01] [ 8.70130816e-04 2.05279019e-05 9.99999621e-01 -6.73224066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:-34.33, Z:-6.73 [[ 9.84339332e-01 1.76283380e-01 -5.00234541e-04 2.80122746e+02] [-1.76283363e-01 9.84339459e-01 7.78361479e-05 -3.43267286e+01] [ 5.06121816e-04 1.15658454e-05 9.99999872e-01 -6.73260931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:-34.32, Z:-6.73 [[ 9.83739659e-01 1.79598463e-01 8.21789210e-04 2.80152795e+02] [-1.79598424e-01 9.83740002e-01 -1.22051119e-04 -3.43241726e+01] [-8.30347112e-04 -2.75255203e-05 9.99999655e-01 -6.73230589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.18, Y:-34.32, Z:-6.73 [[ 9.83564889e-01 1.80545910e-01 1.81204005e-03 2.80183143e+02] [-1.80545722e-01 9.83566556e-01 -2.68520438e-04 -3.43246008e+01] [-1.83074226e-03 -6.30488041e-05 9.99998322e-01 -6.73277912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.21, Y:-34.32, Z:-6.73 [[ 9.83635151e-01 1.80164648e-01 1.60914558e-03 2.80214324e+02] [-1.80164498e-01 9.83636466e-01 -2.38454153e-04 -3.43242581e+01] [-1.62577528e-03 -5.53590196e-05 9.99998677e-01 -6.73247654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85420382200004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:280.25, Y:-34.33, Z:-6.74 [[ 9.83867476e-01 1.78898778e-01 1.27701009e-04 2.80245915e+02] [-1.78898778e-01 9.83867485e-01 -1.83455512e-05 -3.43260604e+01] [-1.28922868e-04 -4.79596330e-06 9.99999992e-01 -6.73559313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.28, Y:-34.33, Z:-6.73 [[ 9.84232817e-01 1.76877752e-01 -1.53003227e-04 2.80276090e+02] [-1.76877751e-01 9.84232829e-01 2.29691552e-05 -3.43272993e+01] [ 1.54653531e-04 4.45587039e-06 9.99999988e-01 -6.73377863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:-34.32, Z:-6.73 [[ 9.85301286e-01 1.70825219e-01 3.47488028e-04 2.80307533e+02] [-1.70825212e-01 9.85301347e-01 -5.15064368e-05 -3.43246903e+01] [-3.51179021e-04 -8.61035749e-06 9.99999938e-01 -6.73388514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.34, Y:-34.32, Z:-6.73 [[ 9.86660043e-01 1.62784014e-01 1.82310798e-03 2.80337961e+02] [-1.62783793e-01 9.86661727e-01 -2.70230305e-04 -3.43245376e+01] [-1.84278004e-03 -3.01469867e-05 9.99998302e-01 -6.73358156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:-34.33, Z:-6.73 [[ 9.87416964e-01 1.58115766e-01 2.67293958e-03 2.80367738e+02] [-1.58115272e-01 9.87420581e-01 -3.96445011e-04 -3.43267598e+01] [-2.70199976e-03 -3.11760408e-05 9.99996349e-01 -6.73412374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:-34.33, Z:-6.73 [[ 9.88883496e-01 1.48647090e-01 3.67058627e-03 2.80398951e+02] [-1.48646095e-01 9.88890309e-01 -5.43794195e-04 -3.43269280e+01] [-3.71064061e-03 -7.86921228e-06 9.99993116e-01 -6.73498576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03420382200005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.43, Y:-34.33, Z:-6.74 [[ 9.89563744e-01 1.44043284e-01 3.88953737e-03 2.80431024e+02] [-1.44042144e-01 9.89571388e-01 -5.73104915e-04 -3.43310113e+01] [-3.93152681e-03 6.86654401e-06 9.99992271e-01 -6.73768985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.46, Y:-34.34, Z:-6.74 [[ 9.90657316e-01 1.36316392e-01 3.99031076e-03 2.80462902e+02] [-1.36315127e-01 9.90665352e-01 -5.88556244e-04 -3.43367704e+01] [-4.03329248e-03 3.91178298e-05 9.99991865e-01 -6.73706861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.49, Y:-34.34, Z:-6.74 [[ 9.91060276e-01 1.33378075e-01 3.13351506e-03 2.80494773e+02] [-1.33377280e-01 9.91065229e-01 -4.62132340e-04 -3.43413128e+01] [-3.16715614e-03 4.00612872e-05 9.99994984e-01 -6.74028987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.53, Y:-34.35, Z:-6.74 [[ 9.91511254e-01 1.30005049e-01 2.03009111e-03 2.80525344e+02] [-1.30004710e-01 9.91513331e-01 -2.98617935e-04 -3.43467096e+01] [-2.05168424e-03 3.21616375e-05 9.99997895e-01 -6.73813351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.56, Y:-34.35, Z:-6.74 [[ 9.91600255e-01 1.29339781e-01 3.94905491e-04 2.80556706e+02] [-1.29339768e-01 9.91600333e-01 -5.82526877e-05 -3.43509306e+01] [-3.99122806e-04 6.68639556e-06 9.99999920e-01 -6.74172183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.59, Y:-34.36, Z:-6.74 [[ 9.91606290e-01 1.29294069e-01 1.01328810e-04 2.80587726e+02] [-1.29294068e-01 9.91606295e-01 -1.45220691e-05 -3.43562106e+01] [-1.02355904e-04 1.29896094e-06 9.99999995e-01 -6.73937833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:-34.36, Z:-6.74 [[ 9.91269027e-01 1.31854907e-01 -1.07443299e-05 2.80617791e+02] [-1.31854907e-01 9.91269027e-01 1.60082580e-06 -3.43613101e+01] [ 1.08615978e-05 -1.70156408e-07 1.00000000e+00 -6.73989381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.65, Y:-34.37, Z:-6.74 [[ 9.90956435e-01 1.34183652e-01 -3.01952609e-04 2.80647632e+02] [-1.34183645e-01 9.90956481e-01 4.49887111e-05 -3.43658448e+01] [ 3.05258644e-04 -4.06475106e-06 9.99999953e-01 -6.74011469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.68, Y:-34.37, Z:-6.74 [[ 9.90123811e-01 1.40195598e-01 -1.80469992e-04 2.80675945e+02] [-1.40195595e-01 9.90123828e-01 2.60264164e-05 -3.43678963e+01] [ 1.82336428e-04 -4.68276680e-07 9.99999983e-01 -6.74358456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.71, Y:-34.37, Z:-6.74 [[ 9.89108963e-01 1.47184816e-01 -2.98222600e-04 2.80705608e+02] [-1.47184810e-01 9.89109008e-01 4.38451211e-05 -3.43689887e+01] [ 3.01427995e-04 5.26234410e-07 9.99999955e-01 -6.74171439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:280.73, Y:-34.37, Z:-6.75 [[ 9.88620433e-01 1.50430038e-01 -6.66452291e-04 2.80734017e+02] [-1.50430006e-01 9.88620657e-01 9.80833387e-05 -3.43713198e+01] [ 6.73623182e-04 3.28722912e-06 9.99999773e-01 -6.74562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.76, Y:-34.38, Z:-6.74 [[ 9.88194457e-01 1.53202971e-01 -7.52264169e-04 2.80762733e+02] [-1.53202930e-01 9.88194743e-01 1.11122195e-04 -3.43753497e+01] [ 7.60407747e-04 5.43873783e-06 9.99999711e-01 -6.74483121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39420382200007 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:280.79, Y:-34.38, Z:-6.75 [[ 9.87503388e-01 1.57597155e-01 -4.42921428e-04 2.80791027e+02] [-1.57597141e-01 9.87503487e-01 6.47489722e-05 -3.43779467e+01] [ 4.47590708e-04 5.86332160e-06 9.99999900e-01 -6.74615118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42420382200004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:280.82, Y:-34.38, Z:-6.75 [[ 9.87509229e-01 1.57560551e-01 -4.42881432e-04 2.80820045e+02] [-1.57560538e-01 9.87509328e-01 6.50176675e-05 -3.43821808e+01] [ 4.47593765e-04 5.57509007e-06 9.99999900e-01 -6.74682683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:280.85, Y:-34.39, Z:-6.75 [[ 9.87272783e-01 1.59032955e-01 9.85722283e-04 2.80848498e+02] [-1.59032887e-01 9.87273275e-01 -1.47451759e-04 -3.43851094e+01] [-9.96626956e-04 -1.11871521e-05 9.99999503e-01 -6.74772352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.88, Y:-34.39, Z:-6.74 [[ 9.86988263e-01 1.60792008e-01 3.12882986e-04 2.80877260e+02] [-1.60792001e-01 9.86988313e-01 -4.76565861e-05 -3.43856649e+01] [-3.16474650e-04 -3.27259040e-06 9.99999950e-01 -6.74430720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.91, Y:-34.39, Z:-6.75 [[ 9.86921690e-01 1.61200421e-01 -4.02338664e-05 2.80906338e+02] [-1.61200421e-01 9.86921691e-01 5.13166840e-06 -3.43877490e+01] [ 4.05349022e-05 1.42116137e-06 9.99999999e-01 -6.74591226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.93, Y:-34.39, Z:-6.75 [[ 9.86931258e-01 1.61141751e-01 1.64613051e-04 2.80934643e+02] [-1.61141749e-01 9.86931272e-01 -2.58368632e-05 -3.43877272e+01] [-1.66625166e-04 -1.02682714e-06 9.99999986e-01 -6.74683157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5742038220001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.96, Y:-34.39, Z:-6.75 [[ 9.86977399e-01 1.60858729e-01 -2.89928684e-04 2.80963227e+02] [-1.60858724e-01 9.86977441e-01 4.19203448e-05 -3.43889040e+01] [ 2.92896324e-04 5.26312526e-06 9.99999957e-01 -6.75033172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.99, Y:-34.39, Z:-6.75 [[ 9.87165572e-01 1.59697769e-01 -8.69268527e-04 2.80991291e+02] [-1.59697719e-01 9.87165955e-01 1.27635387e-04 -3.43900874e+01] [ 8.78495382e-04 1.28229407e-05 9.99999614e-01 -6.74826725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.02, Y:-34.39, Z:-6.75 [[ 9.87474058e-01 1.57781305e-01 -2.12710663e-04 2.81020265e+02] [-1.57781302e-01 9.87474081e-01 3.04307570e-05 -3.43910805e+01] [ 2.14847670e-04 3.51218221e-06 9.99999977e-01 -6.74891279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66420382200005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:281.05, Y:-34.39, Z:-6.75 [[ 9.87675775e-01 1.56511242e-01 -8.91174436e-04 2.81049100e+02] [-1.56511188e-01 9.87676177e-01 1.31053622e-04 -3.43931346e+01] [ 9.00703125e-04 1.00402812e-05 9.99999594e-01 -6.75175048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.08, Y:-34.40, Z:-6.75 [[ 9.87824053e-01 1.55570308e-01 -1.23242587e-03 2.81078058e+02] [-1.55570202e-01 9.87824822e-01 1.81616468e-04 -3.43965286e+01] [ 1.24567500e-03 1.23236269e-05 9.99999224e-01 -6.74970793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.11, Y:-34.40, Z:-6.75 [[ 9.88116037e-01 1.53703523e-01 -1.38700038e-03 2.81106380e+02] [-1.53703388e-01 9.88117011e-01 2.04168248e-04 -3.43974247e+01] [ 1.40190004e-03 1.14447362e-05 9.99999017e-01 -6.74948044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.14, Y:-34.40, Z:-6.75 [[ 9.88264730e-01 1.52741686e-01 -1.67376187e-03 2.81135447e+02] [-1.52741487e-01 9.88266147e-01 2.46888274e-04 -3.43982662e+01] [ 1.69183232e-03 1.16619028e-05 9.99998569e-01 -6.75251916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.16, Y:-34.40, Z:-6.75 [[ 9.88607095e-01 1.50516969e-01 -8.08364077e-04 2.81163835e+02] [-1.50516923e-01 9.88607426e-01 1.18306658e-04 -3.43985301e+01] [ 8.16961889e-04 4.71367125e-06 9.99999666e-01 -6.75051145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:-34.40, Z:-6.75 [[ 9.88796571e-01 1.49268964e-01 -3.43507734e-04 2.81192906e+02] [-1.49268955e-01 9.88796631e-01 4.97127489e-05 -3.44014252e+01] [ 3.47079860e-04 2.11924499e-06 9.99999940e-01 -6.75077316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.22, Y:-34.40, Z:-6.75 [[ 9.89161633e-01 1.46825935e-01 1.18650802e-03 2.81220693e+02] [-1.46825829e-01 9.89162345e-01 -1.77056584e-04 -3.44017691e+01] [-1.19964555e-03 9.27556909e-07 9.99999280e-01 -6.75029749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.25, Y:-34.40, Z:-6.75 [[ 9.89373482e-01 1.45383251e-01 1.95555001e-03 2.81249932e+02] [-1.45382961e-01 9.89375414e-01 -2.90460297e-04 -3.44028403e+01] [-1.97700116e-03 3.07006545e-06 9.99998046e-01 -6.75156745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:-34.41, Z:-6.75 [[ 9.89437860e-01 1.44945805e-01 1.85336447e-03 2.81278971e+02] [-1.44945544e-01 9.89439596e-01 -2.75252236e-04 -3.44058383e+01] [-1.87368885e-03 3.70806299e-06 9.99998245e-01 -6.75211571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.31, Y:-34.41, Z:-6.76 [[ 9.89459498e-01 1.44808303e-01 -6.76221663e-04 2.81307869e+02] [-1.44808269e-01 9.89459729e-01 9.88366939e-05 -3.44071527e+01] [ 6.83406477e-04 1.27582968e-07 9.99999766e-01 -6.75531002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.34, Y:-34.41, Z:-6.75 [[ 9.89516290e-01 1.44418622e-01 -8.79532833e-04 2.81335425e+02] [-1.44418565e-01 9.89516681e-01 1.28566341e-04 -3.44095634e+01] [ 8.88879783e-04 -1.97618690e-07 9.99999605e-01 -6.75358917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:-34.41, Z:-6.75 [[ 9.89508517e-01 1.44463734e-01 -1.76750483e-03 2.81364694e+02] [-1.44463500e-01 9.89510096e-01 2.60014422e-04 -3.44116455e+01] [ 1.78652653e-03 -1.94655105e-06 9.99998404e-01 -6.75439946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.39, Y:-34.41, Z:-6.75 [[ 9.89350142e-01 1.45510108e-01 -3.62013431e-03 2.81394086e+02] [-1.45509130e-01 9.89356765e-01 5.33560272e-04 -3.44107169e+01] [ 3.65924278e-03 -1.11533686e-06 9.99993305e-01 -6.75492520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05420382200003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.42, Y:-34.41, Z:-6.76 [[ 9.89167766e-01 1.46767821e-01 -2.51742102e-03 2.81420943e+02] [-1.46767357e-01 9.89170969e-01 3.69118063e-04 -3.44104221e+01] [ 2.54433444e-03 4.35553927e-06 9.99996763e-01 -6.75772223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:-34.41, Z:-6.75 [[ 9.89128783e-01 1.47046638e-01 -1.23933316e-03 2.81448895e+02] [-1.47046527e-01 9.89129560e-01 1.81071222e-04 -3.44126775e+01] [ 1.25248698e-03 3.13687906e-06 9.99999216e-01 -6.75401858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.48, Y:-34.41, Z:-6.76 [[ 9.89022802e-01 1.47762889e-01 1.61703191e-04 2.81476854e+02] [-1.47762887e-01 9.89022815e-01 -2.52972167e-05 -3.44129679e+01] [-1.63666136e-04 1.12579384e-06 9.99999987e-01 -6.75509736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:-34.41, Z:-6.76 [[ 9.88949672e-01 1.48251626e-01 -3.19318597e-05 2.81505397e+02] [-1.48251626e-01 9.88949673e-01 2.99402792e-06 -3.44143116e+01] [ 3.20228713e-05 1.77300718e-06 9.99999999e-01 -6.75554069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.53, Y:-34.41, Z:-6.76 [[ 9.88864958e-01 1.48815317e-01 3.11168579e-04 2.81532981e+02] [-1.48815310e-01 9.88865007e-01 -4.78194166e-05 -3.44143801e+01] [-3.14819981e-04 9.80296942e-07 9.99999950e-01 -6.75638759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.56, Y:-34.41, Z:-6.76 [[ 9.88644785e-01 1.50271350e-01 1.02341407e-04 2.81562208e+02] [-1.50271349e-01 9.88644790e-01 -1.67152239e-05 -3.44107219e+01] [-1.03691119e-04 1.14643760e-06 9.99999995e-01 -6.75822287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.59, Y:-34.41, Z:-6.76 [[ 9.88624851e-01 1.50396667e-01 -1.32120417e-03 2.81590133e+02] [-1.50396544e-01 9.88625734e-01 1.92704357e-04 -3.44110359e+01] [ 1.33515853e-03 8.19222336e-06 9.99999109e-01 -6.75963559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.62, Y:-34.41, Z:-6.76 [[ 9.88726637e-01 1.49722787e-01 -1.65025004e-03 2.81618394e+02] [-1.49722594e-01 9.88728015e-01 2.40985437e-04 -3.44127666e+01] [ 1.66772946e-03 8.81099592e-06 9.99998609e-01 -6.76028750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.65, Y:-34.41, Z:-6.76 [[ 9.89062326e-01 1.47478252e-01 -2.42491363e-03 2.81646738e+02] [-1.47477825e-01 9.89065299e-01 3.54706328e-04 -3.44133679e+01] [ 2.45070939e-03 6.79432236e-06 9.99996997e-01 -6.76412519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.67, Y:-34.42, Z:-6.76 [[ 9.89325831e-01 1.45716282e-01 -1.07979067e-03 2.81673544e+02] [-1.45716198e-01 9.89326420e-01 1.56607012e-04 -3.44155283e+01] [ 1.09108563e-03 2.40762977e-06 9.99999405e-01 -6.76108175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35420382200004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:281.70, Y:-34.41, Z:-6.76 [[ 9.89616750e-01 1.43731221e-01 1.53334424e-04 2.81701494e+02] [-1.43731219e-01 9.89616762e-01 -2.41448483e-05 -3.44147888e+01] [-1.55212685e-04 1.85520271e-06 9.99999988e-01 -6.76260825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.73, Y:-34.42, Z:-6.76 [[ 9.89853599e-01 1.42090338e-01 -4.33519754e-04 2.81729934e+02] [-1.42090324e-01 9.89853694e-01 6.19092929e-05 -3.44170210e+01] [ 4.37917842e-04 3.17826082e-07 9.99999904e-01 -6.76227966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.76, Y:-34.42, Z:-6.76 [[ 9.90428438e-01 1.38023941e-01 -9.48874884e-04 2.81756899e+02] [-1.38023873e-01 9.90428893e-01 1.37188052e-04 -3.44211127e+01] [ 9.58728336e-04 -4.90756167e-06 9.99999540e-01 -6.76351681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:281.78, Y:-34.43, Z:-6.77 [[ 9.90709118e-01 1.35985743e-01 -1.82233529e-03 2.81784688e+02] [-1.35985485e-01 9.90710794e-01 2.65445225e-04 -3.44255586e+01] [ 1.84150400e-03 -1.51678575e-05 9.99998304e-01 -6.76776502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.81, Y:-34.43, Z:-6.76 [[ 9.91248239e-01 1.31989467e-01 -2.38923658e-03 2.81811551e+02] [-1.31989012e-01 9.91251118e-01 3.48073218e-04 -3.44292539e+01] [ 2.41427543e-03 -2.96739898e-05 9.99997085e-01 -6.76431473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.84, Y:-34.43, Z:-6.77 [[ 9.91391026e-01 1.30912279e-01 -2.41026028e-03 2.81838700e+02] [-1.30911812e-01 9.91393955e-01 3.50965828e-04 -3.44329131e+01] [ 2.43546321e-03 -3.24128304e-05 9.99997034e-01 -6.76814241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.87, Y:-34.44, Z:-6.77 [[ 9.91554027e-01 1.29676012e-01 -2.17808205e-03 2.81866524e+02] [-1.29675628e-01 9.91556418e-01 3.17093635e-04 -3.44361691e+01] [ 2.20081068e-03 -3.19713126e-05 9.99997578e-01 -6.76538213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.89, Y:-34.44, Z:-6.77 [[ 9.91688647e-01 1.28625581e-01 -3.01436675e-03 2.81893780e+02] [-1.28624840e-01 9.91693228e-01 4.39212865e-04 -3.44398423e+01] [ 3.04582110e-03 -4.78399710e-05 9.99995360e-01 -6.76687727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:-34.45, Z:-6.77 [[ 9.91597088e-01 1.29348994e-01 -2.01303885e-03 2.81920496e+02] [-1.29348667e-01 9.91599131e-01 2.92289375e-04 -3.44458969e+01] [ 2.03393491e-03 -2.94494018e-05 9.99997931e-01 -6.76754019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.95, Y:-34.45, Z:-6.77 [[ 9.91430197e-01 1.30629394e-01 -1.45791821e-03 2.81947599e+02] [-1.30629225e-01 9.91431269e-01 2.11032465e-04 -3.44486789e+01] [ 1.47299274e-03 -1.87772329e-05 9.99998915e-01 -6.76709014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65420382200006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:281.97, Y:-34.45, Z:-6.77 [[ 9.90733373e-01 1.35814684e-01 -1.32503804e-03 2.81974715e+02] [-1.35814549e-01 9.90734259e-01 1.91561363e-04 -3.44479432e+01] [ 1.33877743e-03 -9.82679122e-06 9.99999104e-01 -6.76993358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68420382200003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.00, Y:-34.45, Z:-6.77 [[ 9.90351538e-01 1.38557981e-01 -2.34881403e-03 2.82002465e+02] [-1.38557562e-01 9.90354323e-01 3.41092467e-04 -3.44501145e+01] [ 2.37341921e-03 -1.23555040e-05 9.99997183e-01 -6.77115667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.03, Y:-34.45, Z:-6.77 [[ 9.90022196e-01 1.40896899e-01 -2.02862750e-03 2.82030712e+02] [-1.40896592e-01 9.90024274e-01 2.94208526e-04 -3.44522235e+01] [ 2.04984354e-03 -5.44626916e-06 9.99997899e-01 -6.76861960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.06, Y:-34.45, Z:-6.77 [[ 9.89186761e-01 1.46657860e-01 -1.01205743e-03 2.82058734e+02] [-1.46657788e-01 9.89187279e-01 1.45854667e-04 -3.44514138e+01] [ 1.02250507e-03 4.14859821e-06 9.99999477e-01 -6.76944913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.09, Y:-34.45, Z:-6.77 [[ 9.88838222e-01 1.48992027e-01 -5.88250368e-04 2.82087025e+02] [-1.48992003e-01 9.88838397e-01 8.40176928e-05 -3.44536944e+01] [ 5.94202517e-04 4.56469476e-06 9.99999823e-01 -6.77020457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.11, Y:-34.46, Z:-6.77 [[ 9.88490525e-01 1.51282718e-01 1.49097647e-04 2.82113825e+02] [-1.51282716e-01 9.88490536e-01 -2.36902801e-05 -3.44555528e+01] [-1.50965543e-04 8.61720482e-07 9.99999989e-01 -6.77118786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.14, Y:-34.46, Z:-6.77 [[ 9.88750656e-01 1.49571734e-01 -6.60487711e-04 2.82141956e+02] [-1.49571704e-01 9.88750877e-01 9.44725051e-05 -3.44579251e+01] [ 6.67188219e-04 5.38052080e-06 9.99999777e-01 -6.77185880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.17, Y:-34.46, Z:-6.77 [[ 9.89121011e-01 1.47100686e-01 -1.00642230e-03 2.82169891e+02] [-1.47100615e-01 9.89121523e-01 1.44749180e-04 -3.44601428e+01] [ 1.01676666e-03 4.87088430e-06 9.99999483e-01 -6.77280247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.20, Y:-34.46, Z:-6.77 [[ 9.89965924e-01 1.41295810e-01 -1.72136044e-03 2.82197847e+02] [-1.41295591e-01 9.89967421e-01 2.48585196e-04 -3.44637958e+01] [ 1.73921480e-03 -2.87023296e-06 9.99998488e-01 -6.77423433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.23, Y:-34.47, Z:-6.77 [[ 9.90326966e-01 1.38729814e-01 -2.55730607e-03 2.82225187e+02] [-1.38729321e-01 9.90330267e-01 3.69951222e-04 -3.44692357e+01] [ 2.58390087e-03 -1.15993372e-05 9.99996662e-01 -6.77493935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95420382200007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:282.25, Y:-34.47, Z:-6.78 [[ 9.90517250e-01 1.37325254e-01 -4.16562418e-03 2.82252479e+02] [-1.37323931e-01 9.90526009e-01 6.03377258e-04 -3.44739719e+01] [ 4.20901803e-03 -2.56156952e-05 9.99991142e-01 -6.77863340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.28, Y:-34.48, Z:-6.78 [[ 9.90749268e-01 1.35639906e-01 -4.20761990e-03 2.82279433e+02] [-1.35638544e-01 9.90758202e-01 6.08831393e-04 -3.44792137e+01] [ 4.25131576e-03 -3.24838203e-05 9.99990963e-01 -6.77657433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.31, Y:-34.49, Z:-6.78 [[ 9.90521457e-01 1.37288933e-01 -4.35800016e-03 2.82306220e+02] [-1.37287487e-01 9.90531044e-01 6.30603740e-04 -3.44869736e+01] [ 4.40330936e-03 -2.63276433e-05 9.99990305e-01 -6.77872330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.33, Y:-34.49, Z:-6.78 [[ 9.90341200e-01 1.38591496e-01 -4.08706567e-03 2.82333435e+02] [-1.38590238e-01 9.90349634e-01 5.90647707e-04 -3.44904371e+01] [ 4.12948273e-03 -1.85153538e-05 9.99991473e-01 -6.77727081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.36, Y:-34.49, Z:-6.78 [[ 9.89795058e-01 1.42475680e-01 -2.53449733e-03 2.82361161e+02] [-1.42475211e-01 9.89798303e-01 3.65650094e-04 -3.44913270e+01] [ 2.56073740e-03 -8.15614100e-07 9.99996721e-01 -6.77681238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10420382200004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:282.39, Y:-34.49, Z:-6.78 [[ 9.89541801e-01 1.44231597e-01 -2.06658387e-03 2.82388898e+02] [-1.44231290e-01 9.89543959e-01 2.97572432e-04 -3.44949884e+01] [ 2.08789493e-03 3.60569690e-06 9.99997820e-01 -6.78061355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.42, Y:-34.50, Z:-6.78 [[ 9.89134870e-01 1.46999438e-01 -1.83686238e-03 2.82415995e+02] [-1.46999202e-01 9.89136576e-01 2.63845243e-04 -3.44979334e+01] [ 1.85569286e-03 9.03877356e-06 9.99998278e-01 -6.77961322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:-34.50, Z:-6.78 [[ 9.89000847e-01 1.47905099e-01 -1.18558062e-03 2.82444321e+02] [-1.47905002e-01 9.89001558e-01 1.69818433e-04 -3.45011991e+01] [ 1.19765809e-03 7.40272945e-06 9.99999283e-01 -6.77798617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.47, Y:-34.51, Z:-6.78 [[ 9.88682681e-01 1.50021012e-01 5.02435649e-04 2.82471223e+02] [-1.50020993e-01 9.88682809e-01 -7.46464397e-05 -3.45051400e+01] [-5.07948023e-04 -1.57425276e-06 9.99999871e-01 -6.77835360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.50, Y:-34.51, Z:-6.78 [[ 9.88531966e-01 1.51010832e-01 5.30674446e-04 2.82497987e+02] [-1.51010811e-01 9.88532108e-01 -7.86522804e-05 -3.45090901e+01] [-5.36466075e-04 -2.38728522e-06 9.99999856e-01 -6.77903198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:-34.51, Z:-6.78 [[ 9.88299022e-01 1.52528641e-01 2.36535980e-04 2.82525640e+02] [-1.52528637e-01 9.88299051e-01 -3.58256629e-05 -3.45118386e+01] [-2.39232724e-04 -6.72042954e-07 9.99999971e-01 -6.77967666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:-34.51, Z:-6.78 [[ 9.88183064e-01 1.53278247e-01 -1.04124770e-04 2.82552358e+02] [-1.53278247e-01 9.88183070e-01 1.31084623e-05 -3.45140986e+01] [ 1.04903576e-04 3.00650173e-06 9.99999994e-01 -6.78006958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.58, Y:-34.52, Z:-6.78 [[ 9.88192019e-01 1.53220501e-01 -1.04045933e-04 2.82580570e+02] [-1.53220501e-01 9.88192025e-01 1.36543010e-05 -3.45180371e+01] [ 1.04909480e-04 2.44889865e-06 9.99999994e-01 -6.78072605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.61, Y:-34.52, Z:-6.78 [[ 9.88079423e-01 1.53944970e-01 -2.75034886e-05 2.82608117e+02] [-1.53944970e-01 9.88079423e-01 2.28002696e-06 -3.45197930e+01] [ 2.75266294e-05 1.98117601e-06 1.00000000e+00 -6.78225164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.64, Y:-34.52, Z:-6.79 [[ 9.88111344e-01 1.53738971e-01 -5.49157576e-04 2.82635818e+02] [-1.53738951e-01 9.88111496e-01 7.74437872e-05 -3.45242394e+01] [ 5.54535042e-04 7.90382514e-06 9.99999846e-01 -6.78585967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:-34.53, Z:-6.78 [[ 9.88451444e-01 1.51537833e-01 1.69766804e-04 2.82663365e+02] [-1.51537830e-01 9.88451458e-01 -2.61625140e-05 -3.45281938e+01] [-1.71770856e-04 1.34281653e-07 9.99999985e-01 -6.78294058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.69, Y:-34.53, Z:-6.78 [[ 9.88633588e-01 1.50344319e-01 4.62381431e-04 2.82690343e+02] [-1.50344303e-01 9.88633696e-01 -6.85599484e-05 -3.45313126e+01] [-4.67433462e-04 -1.73574622e-06 9.99999891e-01 -6.78332883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.72, Y:-34.53, Z:-6.79 [[ 9.88976665e-01 1.48071403e-01 -1.22673061e-04 2.82717926e+02] [-1.48071402e-01 9.88976673e-01 1.59577612e-05 -3.45345481e+01] [ 1.23683684e-04 2.38251879e-06 9.99999992e-01 -6.78650630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.74, Y:-34.54, Z:-6.78 [[ 9.89128442e-01 1.47054075e-01 1.58393178e-04 2.82744327e+02] [-1.47054073e-01 9.89128454e-01 -2.47526797e-05 -3.45380370e+01] [-1.60311183e-04 1.19121755e-06 9.99999987e-01 -6.78403503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.77, Y:-34.54, Z:-6.78 [[ 9.89463796e-01 1.44776432e-01 1.08685262e-03 2.82770956e+02] [-1.44776345e-01 9.89464393e-01 -1.59062921e-04 -3.45412444e+01] [-1.09843053e-03 3.64521391e-08 9.99999397e-01 -6.78376264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:-34.54, Z:-6.78 [[ 9.89644594e-01 1.43527323e-01 1.86671545e-03 2.82799135e+02] [-1.43527069e-01 9.89646355e-01 -2.69811192e-04 -3.45445884e+01] [-1.88611342e-03 -9.07009932e-07 9.99998221e-01 -6.78376753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:-34.55, Z:-6.78 [[ 9.89995146e-01 1.41075997e-01 2.67847698e-03 2.82826718e+02] [-1.41075469e-01 9.89998769e-01 -3.86205308e-04 -3.45508563e+01] [-2.70617321e-03 4.47398569e-06 9.99996338e-01 -6.78393242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:-34.56, Z:-6.78 [[ 9.90302816e-01 1.38884219e-01 3.39199536e-03 2.82852429e+02] [-1.38883358e-01 9.90308625e-01 -4.89166809e-04 -3.45581434e+01] [-3.42705982e-03 1.33315610e-05 9.99994128e-01 -6.78439395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.88, Y:-34.56, Z:-6.79 [[ 9.90459459e-01 1.37753642e-01 3.74083748e-03 2.82879782e+02] [-1.37752593e-01 9.90466523e-01 -5.37980950e-04 -3.45626719e+01] [-3.77928312e-03 1.75382606e-05 9.99992858e-01 -6.78510840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.91, Y:-34.57, Z:-6.79 [[ 9.90622571e-01 1.36585388e-01 3.36942375e-03 2.82907621e+02] [-1.36584530e-01 9.90628301e-01 -4.84502763e-04 -3.45666224e+01] [-3.40402252e-03 1.97482129e-05 9.99994206e-01 -6.78874566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382200007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.94, Y:-34.57, Z:-6.79 [[ 9.90835163e-01 1.35046930e-01 2.82954229e-03 2.82935307e+02] [-1.35046319e-01 9.90839203e-01 -4.06937917e-04 -3.45719226e+01] [-2.85857715e-03 2.10891261e-05 9.99995914e-01 -6.78913485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.96, Y:-34.58, Z:-6.79 [[ 9.90892195e-01 1.34626483e-01 2.89265871e-03 2.82962108e+02] [-1.34625842e-01 9.90896417e-01 -4.15994349e-04 -3.45763843e+01] [-2.92232901e-03 2.27789395e-05 9.99995730e-01 -6.78631602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:-34.59, Z:-6.79 [[ 9.90865529e-01 1.34845072e-01 1.52006262e-03 2.82988759e+02] [-1.34844894e-01 9.90866695e-01 -2.19151340e-04 -3.45851519e+01] [-1.53573091e-03 1.21768239e-05 9.99998821e-01 -6.78785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:-34.59, Z:-6.79 [[ 9.90809263e-01 1.35261451e-01 1.15939938e-03 2.83015237e+02] [-1.35261347e-01 9.90809941e-01 -1.67734754e-04 -3.45937558e+01] [-1.17143248e-03 9.37122658e-06 9.99999314e-01 -6.78866261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.04, Y:-34.60, Z:-6.79 [[ 9.90618908e-01 1.36648234e-01 1.19992771e-03 2.83041471e+02] [-1.36648124e-01 9.90619634e-01 -1.73817776e-04 -3.46037437e+01] [-1.21242384e-03 8.21930542e-06 9.99999265e-01 -6.78894649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.07, Y:-34.61, Z:-6.79 [[ 9.90531429e-01 1.37265469e-01 2.38293666e-03 2.83068987e+02] [-1.37265043e-01 9.90534296e-01 -3.41945939e-04 -3.46085942e+01] [-2.40731785e-03 1.16142962e-05 9.99997102e-01 -6.78941605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.10, Y:-34.62, Z:-6.79 [[ 9.90288933e-01 1.38953174e-01 4.45471156e-03 2.83095274e+02] [-1.38951713e-01 9.90298953e-01 -6.37196613e-04 -3.46181701e+01] [-4.50003669e-03 1.20189493e-05 9.99989875e-01 -6.79008335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.12, Y:-34.63, Z:-6.79 [[ 9.90115511e-01 1.40202600e-01 3.80869579e-03 2.83122950e+02] [-1.40201543e-01 9.90122836e-01 -5.44513599e-04 -3.46264893e+01] [-3.84741890e-03 5.14633431e-06 9.99992599e-01 -6.79029498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:-34.64, Z:-6.79 [[ 9.89594234e-01 1.43848520e-01 3.29481100e-03 2.83150029e+02] [-1.43847748e-01 9.89599719e-01 -4.71269611e-04 -3.46369251e+01] [-3.32833547e-03 -7.58545135e-06 9.99994461e-01 -6.79118039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.18, Y:-34.64, Z:-6.79 [[ 9.89260883e-01 1.46126335e-01 3.16221613e-03 2.83178535e+02] [-1.46125637e-01 9.89265937e-01 -4.51924056e-04 -3.46439130e+01] [-3.19431071e-03 -1.50100549e-05 9.99994898e-01 -6.79197077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.21, Y:-34.65, Z:-6.79 [[ 9.88524495e-01 1.51050448e-01 1.75620591e-03 2.83205023e+02] [-1.51050240e-01 9.88526055e-01 -2.51641502e-04 -3.46542787e+01] [-1.77406586e-03 -1.65215340e-05 9.99998426e-01 -6.79272498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.23, Y:-34.66, Z:-6.79 [[ 9.88076945e-01 1.53950767e-01 1.76418342e-03 2.83233270e+02] [-1.53950561e-01 9.88078520e-01 -2.52450095e-04 -3.46605828e+01] [-1.78201662e-03 -2.21569087e-05 9.99998412e-01 -6.79260186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:-34.67, Z:-6.79 [[ 9.87013405e-01 1.60608689e-01 3.06398545e-03 2.83259670e+02] [-1.60608102e-01 9.87018159e-01 -4.38186594e-04 -3.46671178e+01] [-3.09458585e-03 -5.96048477e-05 9.99995210e-01 -6.79282839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.29, Y:-34.67, Z:-6.79 [[ 9.86432068e-01 1.64145295e-01 2.84566452e-03 2.83287047e+02] [-1.64144805e-01 9.86436170e-01 -4.06558119e-04 -3.46725734e+01] [-2.87380101e-03 -6.60590824e-05 9.99995868e-01 -6.79385261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.31, Y:-34.68, Z:-6.79 [[ 9.85391160e-01 1.70296889e-01 1.79751795e-03 2.83314835e+02] [-1.70296702e-01 9.85392798e-01 -2.57288372e-04 -3.46788623e+01] [-1.81507665e-03 -5.25816913e-05 9.99998351e-01 -6.79459889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.34, Y:-34.68, Z:-6.80 [[ 9.85022220e-01 1.72417495e-01 1.85319223e-03 2.83341638e+02] [-1.72417299e-01 9.85023961e-01 -2.65788422e-04 -3.46827394e+01] [-1.87126532e-03 -5.77148976e-05 9.99998248e-01 -6.79566622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18420382200003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:283.37, Y:-34.69, Z:-6.80 [[ 9.84630113e-01 1.74651609e-01 5.97007654e-04 2.83368909e+02] [-1.74651588e-01 9.84630294e-01 -8.64254864e-05 -3.46871724e+01] [-6.02926172e-04 -1.91711985e-05 9.99999818e-01 -6.80028599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.40, Y:-34.69, Z:-6.80 [[ 9.84604447e-01 1.74795849e-01 7.02774937e-04 2.83395172e+02] [-1.74795821e-01 9.84604698e-01 -1.01649565e-04 -3.46910312e+01] [-7.09723427e-04 -2.27575083e-05 9.99999748e-01 -6.79856854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24420382200003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.42, Y:-34.69, Z:-6.80 [[ 9.84910214e-01 1.73065854e-01 -2.84419235e-04 2.83423051e+02] [-1.73065850e-01 9.84910255e-01 3.86827213e-05 -3.46936108e+01] [ 2.86822079e-04 1.11242494e-05 9.99999959e-01 -6.80099694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.45, Y:-34.70, Z:-6.80 [[ 9.85267300e-01 1.71021155e-01 -3.34082497e-04 2.83449538e+02] [-1.71021150e-01 9.85267357e-01 4.48772004e-05 -3.46981004e+01] [ 3.36835529e-04 1.29191347e-05 9.99999943e-01 -6.79995841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:-34.70, Z:-6.80 [[ 9.86205284e-01 1.65518194e-01 -1.69277601e-03 2.83476818e+02] [-1.65518031e-01 9.86206736e-01 2.36942872e-04 -3.47027564e+01] [ 1.70864546e-03 4.65106395e-05 9.99998539e-01 -6.80060168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.51, Y:-34.71, Z:-6.80 [[ 9.86734475e-01 1.62334590e-01 -1.59923417e-03 2.83505060e+02] [-1.62334438e-01 9.86735770e-01 2.24708805e-04 -3.47060939e+01] [ 1.61449957e-03 3.78828562e-05 9.99998696e-01 -6.80114400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.53, Y:-34.71, Z:-6.80 [[ 9.87943793e-01 1.54810150e-01 -9.38055520e-04 2.83533419e+02] [-1.54810095e-01 9.87944238e-01 1.31617564e-04 -3.47121510e+01] [ 9.47122280e-04 1.51897088e-05 9.99999551e-01 -6.80156530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:-34.72, Z:-6.80 [[ 9.89172169e-01 1.46757815e-01 7.50594702e-04 2.83560497e+02] [-1.46757775e-01 9.89172454e-01 -1.07610258e-04 -3.47201008e+01] [-7.58260250e-04 -3.71053622e-06 9.99999713e-01 -6.80076594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:-34.72, Z:-6.80 [[ 9.89687655e-01 1.43237153e-01 1.20970849e-03 2.83589090e+02] [-1.43237049e-01 9.89688394e-01 -1.72236205e-04 -3.47244798e+01] [-1.22190507e-03 -2.81502793e-06 9.99999253e-01 -6.80029374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.62, Y:-34.73, Z:-6.80 [[ 9.90397748e-01 1.38246316e-01 5.07504807e-04 2.83616312e+02] [-1.38246297e-01 9.90397878e-01 -7.31849106e-05 -3.47297837e+01] [-5.12749229e-04 2.32151031e-06 9.99999869e-01 -6.80162574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48420382200004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:283.64, Y:-34.74, Z:-6.81 [[ 9.90571485e-01 1.36995200e-01 -6.69475252e-04 2.83644610e+02] [-1.36995168e-01 9.90571711e-01 9.34296629e-05 -3.47361066e+01] [ 6.75962661e-04 -8.33885024e-07 9.99999772e-01 -6.80522552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:-34.74, Z:-6.80 [[ 9.90636527e-01 1.36517702e-01 -1.47955349e-03 2.83672033e+02] [-1.36517544e-01 9.90637632e-01 2.07512077e-04 -3.47434848e+01] [ 1.49403043e-03 -3.58403375e-06 9.99998884e-01 -6.80261629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:-34.75, Z:-6.80 [[ 9.90561376e-01 1.37065098e-01 -1.14847446e-03 2.83700797e+02] [-1.37065004e-01 9.90562042e-01 1.61001710e-04 -3.47478047e+01] [ 1.15970292e-03 -2.06641938e-06 9.99999328e-01 -6.80319657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:-34.75, Z:-6.80 [[ 9.90468209e-01 1.37739007e-01 -8.32859173e-04 2.83729162e+02] [-1.37738958e-01 9.90468559e-01 1.16393425e-04 -3.47526624e+01] [ 8.40952739e-04 -5.66832425e-07 9.99999646e-01 -6.80350773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-34.76, Z:-6.80 [[ 9.90283779e-01 1.39059580e-01 -6.86109231e-04 2.83756305e+02] [-1.39059547e-01 9.90284016e-01 9.53606608e-05 -3.47593489e+01] [ 6.92703818e-04 9.75923442e-07 9.99999760e-01 -6.80376488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.79, Y:-34.76, Z:-6.80 [[ 9.89981913e-01 1.41192800e-01 6.37178266e-04 2.83785002e+02] [-1.41192771e-01 9.89982118e-01 -9.09845462e-05 -3.47648314e+01] [-6.43641452e-04 1.08090295e-07 9.99999793e-01 -6.80347842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:-34.77, Z:-6.80 [[ 9.89729469e-01 1.42952168e-01 5.05054495e-04 2.83812085e+02] [-1.42952150e-01 9.89729598e-01 -7.25963903e-05 -3.47690751e+01] [-5.10245194e-04 -3.47838977e-07 9.99999870e-01 -6.80360764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.84, Y:-34.77, Z:-6.80 [[ 9.89142548e-01 1.46959223e-01 -7.54348434e-05 2.83840866e+02] [-1.46959223e-01 9.89142551e-01 9.51877169e-06 -3.47736153e+01] [ 7.60146843e-05 1.67042384e-06 9.99999997e-01 -6.80440066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72420382200005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:283.87, Y:-34.78, Z:-6.81 [[ 9.88828147e-01 1.49059990e-01 -1.25316628e-04 2.83868618e+02] [-1.49059989e-01 9.88828155e-01 1.62712734e-05 -3.47779712e+01] [ 1.26342005e-04 2.59020205e-06 9.99999992e-01 -6.80834867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.90, Y:-34.78, Z:-6.81 [[ 9.88384198e-01 1.51975837e-01 -1.50553834e-04 2.83896396e+02] [-1.51975836e-01 9.88384209e-01 2.00590032e-05 -3.47845879e+01] [ 1.51853516e-04 3.05454302e-06 9.99999988e-01 -6.80583923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.92, Y:-34.79, Z:-6.81 [[ 9.88246133e-01 1.52871074e-01 1.20918671e-04 2.83923723e+02] [-1.52871073e-01 9.88246141e-01 -1.85463305e-05 -3.47884464e+01] [-1.22332608e-04 -1.56627663e-07 9.99999993e-01 -6.80655323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:283.95, Y:-34.79, Z:-6.81 [[ 9.88250409e-01 1.52843070e-01 -3.53846333e-04 2.83952073e+02] [-1.52843063e-01 9.88250472e-01 4.83798192e-05 -3.47894187e+01] [ 3.57083326e-04 6.27158114e-06 9.99999936e-01 -6.81034223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.98, Y:-34.79, Z:-6.81 [[ 9.88318595e-01 1.52401706e-01 -2.73582684e-04 2.83980394e+02] [-1.52401702e-01 9.88318633e-01 3.73600645e-05 -3.47932090e+01] [ 2.76080601e-04 4.77082013e-06 9.99999962e-01 -6.80860063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:-34.80, Z:-6.81 [[ 9.88446810e-01 1.51567012e-01 -5.87460251e-04 2.84009151e+02] [-1.51566991e-01 9.88446984e-01 8.14506896e-05 -3.47979034e+01] [ 5.93018550e-04 8.52990797e-06 9.99999824e-01 -6.80968207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.04, Y:-34.80, Z:-6.81 [[ 9.88720184e-01 1.49770326e-01 -1.11662316e-03 2.84037191e+02] [-1.49770245e-01 9.88720815e-01 1.55759115e-04 -3.48032619e+01] [ 1.12735665e-03 1.32347430e-05 9.99999364e-01 -6.81100827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.06, Y:-34.81, Z:-6.81 [[ 9.88787674e-01 1.49325040e-01 -9.84022068e-04 2.84064350e+02] [-1.49324978e-01 9.88788163e-01 1.36781451e-04 -3.48081018e+01] [ 9.93414269e-04 1.16912612e-05 9.99999506e-01 -6.81223575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.09, Y:-34.81, Z:-6.81 [[ 9.88873904e-01 1.48746249e-01 -1.71928485e-03 2.84092999e+02] [-1.48746056e-01 9.88875398e-01 2.40265222e-04 -3.48142522e+01] [ 1.73589704e-03 1.81448335e-05 9.99998493e-01 -6.81280395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.12, Y:-34.82, Z:-6.81 [[ 9.88930404e-01 1.48373889e-01 -1.35846464e-03 2.84121829e+02] [-1.48373769e-01 9.88931337e-01 1.89517152e-04 -3.48180872e+01] [ 1.37154765e-03 1.41412450e-05 9.99999059e-01 -6.81353233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.15, Y:-34.82, Z:-6.81 [[ 9.89129357e-01 1.47042238e-01 -1.30178561e-03 2.84150103e+02] [-1.47042127e-01 9.89130214e-01 1.81498278e-04 -3.48206292e+01] [ 1.31432340e-03 1.18920503e-05 9.99999136e-01 -6.81443062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.18, Y:-34.82, Z:-6.82 [[ 9.89315874e-01 1.45779318e-01 -1.57889062e-03 2.84178145e+02] [-1.45779152e-01 9.89317133e-01 2.20000719e-04 -3.48245286e+01] [ 1.59409510e-03 1.25191334e-05 9.99998729e-01 -6.81538343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.21, Y:-34.83, Z:-6.82 [[ 9.89520270e-01 1.44376682e-01 -2.23816489e-03 2.84206321e+02] [-1.44376344e-01 9.89522801e-01 3.12639314e-04 -3.48293597e+01] [ 2.25985302e-03 1.37751258e-05 9.99997446e-01 -6.81592679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.23, Y:-34.83, Z:-6.82 [[ 9.89910627e-01 1.41680582e-01 -1.88784349e-03 2.84234853e+02] [-1.41680337e-01 9.89912427e-01 2.63432022e-04 -3.48347548e+01] [ 1.90612294e-03 6.69614478e-06 9.99998183e-01 -6.81640267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.26, Y:-34.84, Z:-6.82 [[ 9.90275890e-01 1.39088879e-01 -2.81891337e-03 2.84262804e+02] [-1.39088322e-01 9.90279902e-01 3.93769395e-04 -3.48404216e+01] [ 2.84628220e-03 2.13759259e-06 9.99995949e-01 -6.81723838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.29, Y:-34.84, Z:-6.82 [[ 9.90435346e-01 1.37939785e-01 -3.23131168e-03 2.84290838e+02] [-1.37939047e-01 9.90440617e-01 4.51059471e-04 -3.48443648e+01] [ 3.26264138e-03 -1.02118759e-06 9.99994678e-01 -6.81786099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.32, Y:-34.85, Z:-6.82 [[ 9.90575759e-01 1.36941255e-01 -2.59979354e-03 2.84319499e+02] [-1.36940775e-01 9.90579170e-01 3.62773128e-04 -3.48480448e+01] [ 2.62497994e-03 -3.33652494e-06 9.99996555e-01 -6.81800948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:-34.85, Z:-6.82 [[ 9.90580855e-01 1.36904385e-01 -2.59976740e-03 2.84348551e+02] [-1.36903904e-01 9.90584267e-01 3.62959723e-04 -3.48520268e+01] [ 2.62497946e-03 -3.62264474e-06 9.99996555e-01 -6.81868514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.38, Y:-34.86, Z:-6.82 [[ 9.90874721e-01 1.34785956e-01 1.81392463e-04 2.84375932e+02] [-1.34785953e-01 9.90874738e-01 -2.68083913e-05 -3.48552768e+01] [-1.83350605e-04 2.11460116e-06 9.99999983e-01 -6.81901705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.40, Y:-34.86, Z:-6.82 [[ 9.91117860e-01 1.32984739e-01 6.68671348e-04 2.84403903e+02] [-1.32984705e-01 9.91118085e-01 -9.50077721e-05 -3.48585498e+01] [-6.75366850e-04 5.24083792e-06 9.99999772e-01 -6.81931820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3242038220001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.43, Y:-34.86, Z:-6.82 [[ 9.91249423e-01 1.32001599e-01 3.99256625e-04 2.84432599e+02] [-1.32001586e-01 9.91249503e-01 -5.69423470e-05 -3.48622298e+01] [-4.03279413e-04 3.74156070e-06 9.99999919e-01 -6.82201699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.46, Y:-34.87, Z:-6.82 [[ 9.91357181e-01 1.31188781e-01 6.65468960e-04 2.84461536e+02] [-1.31188748e-01 9.91357405e-01 -9.35759844e-05 -3.48673063e+01] [-6.71993701e-04 5.46518466e-06 9.99999774e-01 -6.82102450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.49, Y:-34.87, Z:-6.82 [[ 9.91465451e-01 1.30367023e-01 8.35474747e-04 2.84489312e+02] [-1.30366971e-01 9.91465803e-01 -1.17587171e-04 -3.48722958e+01] [-8.43674131e-04 7.66530533e-06 9.99999644e-01 -6.82212215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41420382200005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:284.52, Y:-34.88, Z:-6.82 [[ 9.91500702e-01 1.30101184e-01 -2.02249427e-04 2.84518473e+02] [-1.30101181e-01 9.91500722e-01 2.76721115e-05 -3.48758943e+01] [ 2.04130627e-04 -1.12402860e-06 9.99999979e-01 -6.82482673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.55, Y:-34.88, Z:-6.82 [[ 9.91565873e-01 1.29603558e-01 1.94416289e-04 2.84546500e+02] [-1.29603555e-01 9.91565892e-01 -2.80096873e-05 -3.48802819e+01] [-1.96406717e-04 2.57640781e-06 9.99999981e-01 -6.82346272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:-34.88, Z:-6.82 [[ 9.91535006e-01 1.29838307e-01 -5.88167908e-04 2.84574719e+02] [-1.29838282e-01 9.91535180e-01 8.15061638e-05 -3.48835311e+01] [ 5.93771795e-04 -4.44950406e-06 9.99999824e-01 -6.82382543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-34.89, Z:-6.82 [[ 9.91512101e-01 1.30011471e-01 -8.77949461e-04 2.84602212e+02] [-1.30011415e-01 9.91512490e-01 1.21147160e-04 -3.48866487e+01] [ 8.86248376e-04 -5.97542374e-06 9.99999607e-01 -6.82455985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.63, Y:-34.89, Z:-6.83 [[ 9.91535538e-01 1.29834172e-01 -6.03950575e-04 2.84630791e+02] [-1.29834146e-01 9.91535722e-01 8.31145231e-05 -3.48903159e+01] [ 6.09629674e-04 -3.99759650e-06 9.99999814e-01 -6.82528179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.66, Y:-34.90, Z:-6.83 [[ 9.91680313e-01 1.28724524e-01 3.93331978e-04 2.84658440e+02] [-1.28724512e-01 9.91680390e-01 -5.54652488e-05 -3.48967433e+01] [-3.97199348e-04 4.37232824e-06 9.99999921e-01 -6.82517282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:-34.90, Z:-6.83 [[ 9.91799066e-01 1.27804823e-01 7.35508148e-04 2.84687885e+02] [-1.27804781e-01 9.91799338e-01 -1.03133116e-04 -3.49016995e+01] [-7.42657404e-04 8.28587072e-06 9.99999724e-01 -6.82564881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.72, Y:-34.91, Z:-6.83 [[ 9.91997054e-01 1.26237665e-01 2.42817471e-03 2.84716607e+02] [-1.26237214e-01 9.92000026e-01 -3.38862455e-04 -3.49069196e+01] [-2.45152658e-03 2.96245474e-05 9.99996995e-01 -6.82558917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:-34.91, Z:-6.83 [[ 9.92060969e-01 1.25714656e-01 3.29541696e-03 2.84746860e+02] [-1.25713824e-01 9.92066441e-01 -4.59508425e-04 -3.49120801e+01] [-3.32703952e-03 4.15809068e-05 9.99994465e-01 -6.82593040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.78, Y:-34.92, Z:-6.83 [[ 9.92036258e-01 1.25906505e-01 3.40819432e-03 2.84777019e+02] [-1.25905615e-01 9.92042111e-01 -4.75233946e-04 -3.49192498e+01] [-3.44090734e-03 4.23385021e-05 9.99994079e-01 -6.82592494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.81, Y:-34.92, Z:-6.83 [[ 9.91981308e-01 1.26330932e-01 3.68520875e-03 2.84806409e+02] [-1.26329896e-01 9.91988152e-01 -5.13595562e-04 -3.49242792e+01] [-3.72056642e-03 4.39251604e-05 9.99993078e-01 -6.82683125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.84, Y:-34.93, Z:-6.83 [[ 9.91890027e-01 1.27041545e-01 3.82368942e-03 2.84835808e+02] [-1.27040433e-01 9.91897396e-01 -5.33452524e-04 -3.49291572e+01] [-3.86047821e-03 4.33630796e-05 9.99992547e-01 -6.82781988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.87, Y:-34.94, Z:-6.83 [[ 9.91604982e-01 1.29285626e-01 2.18777622e-03 2.84865774e+02] [-1.29285268e-01 9.91607395e-01 -3.05064368e-04 -3.49361788e+01] [-2.20885551e-03 1.96561132e-05 9.99997560e-01 -6.82956360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80420382200003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:284.89, Y:-34.94, Z:-6.83 [[ 9.91208698e-01 1.32285741e-01 2.40811680e-03 2.84894814e+02] [-1.32285315e-01 9.91211623e-01 -3.36303930e-04 -3.49417966e+01] [-2.43144158e-03 1.47888924e-05 9.99997044e-01 -6.83269071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.92, Y:-34.95, Z:-6.83 [[ 9.90925738e-01 1.34365537e-01 3.47613186e-03 2.84923731e+02] [-1.34364663e-01 9.90931835e-01 -4.84868703e-04 -3.49476147e+01] [-3.50975937e-03 1.33995923e-05 9.99993841e-01 -6.83134915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.95, Y:-34.95, Z:-6.83 [[ 9.90670294e-01 1.36246297e-01 3.05214537e-03 2.84952323e+02] [-1.36245632e-01 9.90674995e-01 -4.25712540e-04 -3.49532639e+01] [-3.08168585e-03 5.89929144e-06 9.99995252e-01 -6.83190080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:-34.96, Z:-6.83 [[ 9.90195807e-01 1.39686262e-01 -1.05340524e-04 2.84981851e+02] [-1.39686261e-01 9.90195813e-01 1.41020757e-05 -3.49591569e+01] [ 1.06277611e-04 7.50807650e-07 9.99999994e-01 -6.83287654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.01, Y:-34.96, Z:-6.83 [[ 9.89958416e-01 1.41358503e-01 -3.27582042e-04 2.85011399e+02] [-1.41358496e-01 9.89958471e-01 4.53607658e-05 -3.49637880e+01] [ 3.30704747e-04 1.40123289e-06 9.99999945e-01 -6.83420655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.04, Y:-34.97, Z:-6.84 [[ 9.89554547e-01 1.44158346e-01 4.13077454e-04 2.85040393e+02] [-1.44158335e-01 9.89554633e-01 -5.81294830e-05 -3.49707410e+01] [-4.17142559e-04 -2.02626361e-06 9.99999913e-01 -6.83504197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.07, Y:-34.98, Z:-6.84 [[ 9.89326493e-01 1.45715535e-01 2.70026701e-04 2.85068916e+02] [-1.45715530e-01 9.89326530e-01 -3.79042015e-05 -3.49763867e+01] [-2.72667811e-04 -1.84745329e-06 9.99999963e-01 -6.83528874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:-34.98, Z:-6.84 [[ 9.88937409e-01 1.48324245e-01 1.64897052e-03 2.85096692e+02] [-1.48324067e-01 9.88938784e-01 -2.30508328e-04 -3.49824666e+01] [-1.66492087e-03 -1.66237053e-05 9.99998614e-01 -6.83606275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.13, Y:-34.99, Z:-6.84 [[ 9.88721288e-01 1.49750189e-01 2.25722773e-03 2.85125884e+02] [-1.49749860e-01 9.88723864e-01 -3.14877979e-04 -3.49889373e+01] [-2.27892796e-03 -2.66929764e-05 9.99997403e-01 -6.83679788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.16, Y:-35.00, Z:-6.84 [[ 9.88338091e-01 1.52274043e-01 6.59063802e-04 2.85155585e+02] [-1.52274016e-01 9.88338310e-01 -9.17770764e-05 -3.49968497e+01] [-6.65353272e-04 -9.65151133e-06 9.99999779e-01 -6.83714678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.18, Y:-35.00, Z:-6.84 [[ 9.88113500e-01 1.53726085e-01 -3.38870063e-05 2.85184751e+02] [-1.53726085e-01 9.88113501e-01 4.43325747e-06 -3.50012362e+01] [ 3.41657154e-05 8.28755240e-07 9.99999999e-01 -6.83852960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:-35.01, Z:-6.84 [[ 9.87621819e-01 1.56851751e-01 8.19432902e-04 2.85213320e+02] [-1.56851710e-01 9.87622159e-01 -1.14675699e-04 -3.50050584e+01] [-8.27277176e-04 -1.52732291e-05 9.99999658e-01 -6.84018700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.24, Y:-35.01, Z:-6.84 [[ 9.87425516e-01 1.58078322e-01 1.44707716e-03 2.85242104e+02] [-1.58078195e-01 9.87426576e-01 -2.02224019e-04 -3.50093551e+01] [-1.46084968e-03 -2.90701890e-05 9.99998933e-01 -6.84084570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.27, Y:-35.01, Z:-6.84 [[ 9.87178531e-01 1.59614929e-01 1.27379353e-03 2.85272081e+02] [-1.59614833e-01 9.87179352e-01 -1.77285265e-04 -3.50147329e+01] [-1.28576005e-03 -2.83041346e-05 9.99999173e-01 -6.84035713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.30, Y:-35.02, Z:-6.84 [[ 9.87103302e-01 1.60076779e-01 1.58021019e-03 2.85301210e+02] [-1.60076632e-01 9.87104566e-01 -2.19671628e-04 -3.50188682e+01] [-1.59499702e-03 -3.61161358e-05 9.99998727e-01 -6.84053212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.33, Y:-35.02, Z:-6.84 [[ 9.87029066e-01 1.60529474e-01 1.97764028e-03 2.85331173e+02] [-1.60529244e-01 9.87031046e-01 -2.75270182e-04 -3.50231275e+01] [-1.99618134e-03 -4.57694292e-05 9.99998007e-01 -6.84141265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.36, Y:-35.03, Z:-6.84 [[ 9.86895307e-01 1.61360836e-01 5.76808815e-04 2.85359674e+02] [-1.61360817e-01 9.86895476e-01 -8.05623239e-05 -3.50286129e+01] [-5.82249614e-04 -1.35677622e-05 9.99999830e-01 -6.84258258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.39, Y:-35.03, Z:-6.84 [[ 9.87034600e-01 1.60506138e-01 6.91104611e-04 2.85390413e+02] [-1.60506110e-01 9.87034842e-01 -9.61871338e-05 -3.50320686e+01] [-6.97582956e-04 -1.59864837e-05 9.99999757e-01 -6.84337895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:-35.04, Z:-6.84 [[ 9.87258335e-01 1.59110334e-01 2.20952765e-03 2.85419232e+02] [-1.59110043e-01 9.87260806e-01 -3.07778290e-04 -3.50364458e+01] [-2.23035076e-03 -4.77013591e-05 9.99997512e-01 -6.84396972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.45, Y:-35.04, Z:-6.84 [[ 9.87615545e-01 1.56864229e-01 3.02476523e-03 2.85448576e+02] [-1.56863675e-01 9.87620175e-01 -4.21185438e-04 -3.50417554e+01] [-3.05338810e-03 -5.85065037e-05 9.99995337e-01 -6.84438494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.48, Y:-35.05, Z:-6.84 [[ 9.88447146e-01 1.51543479e-01 2.61040663e-03 2.85479236e+02] [-1.51543049e-01 9.88450592e-01 -3.62759141e-04 -3.50492236e+01] [-2.63523176e-03 -3.70207422e-05 9.99996527e-01 -6.84484570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:-35.05, Z:-6.85 [[ 9.88848675e-01 1.48904799e-01 2.37882607e-03 2.85510770e+02] [-1.48904442e-01 9.88851536e-01 -3.27498330e-04 -3.50548243e+01] [-2.40107189e-03 -3.03714784e-05 9.99997117e-01 -6.84593728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46420382200006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:285.54, Y:-35.06, Z:-6.85 [[ 9.89440188e-01 1.44932576e-01 1.63193055e-03 2.85541800e+02] [-1.44932405e-01 9.89441533e-01 -2.23442266e-04 -3.50636738e+01] [-1.64708393e-03 -1.54368614e-05 9.99998643e-01 -6.85006906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.57, Y:-35.07, Z:-6.85 [[ 9.89610548e-01 1.43762824e-01 1.79251450e-03 2.85572738e+02] [-1.43762608e-01 9.89612172e-01 -2.49620282e-04 -3.50708987e+01] [-1.80978028e-03 -1.06696955e-05 9.99998362e-01 -6.84771687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:-35.08, Z:-6.85 [[ 9.89595576e-01 1.43871482e-01 1.26228335e-03 2.85603912e+02] [-1.43871379e-01 9.89596381e-01 -1.72804047e-04 -3.50760042e+01] [-1.27401261e-03 -1.06003257e-05 9.99999188e-01 -6.84849468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.63, Y:-35.08, Z:-6.85 [[ 9.89534958e-01 1.44292088e-01 6.00657298e-04 2.85633954e+02] [-1.44292063e-01 9.89535140e-01 -8.36590441e-05 -3.50806351e+01] [-6.06442842e-04 -3.88653229e-06 9.99999816e-01 -6.84974915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.66, Y:-35.09, Z:-6.85 [[ 9.89346740e-01 1.45577529e-01 -4.58628044e-04 2.85664088e+02] [-1.45577515e-01 9.89346847e-01 6.46568996e-05 -3.50876456e+01] [ 4.63154800e-04 2.79783805e-06 9.99999893e-01 -6.85193553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.70, Y:-35.09, Z:-6.85 [[ 9.89147270e-01 1.46926515e-01 -5.27229230e-04 2.85695851e+02] [-1.46926495e-01 9.89147410e-01 7.77663025e-05 -3.50942581e+01] [ 5.32933359e-04 5.41616907e-07 9.99999858e-01 -6.85072905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.73, Y:-35.10, Z:-6.85 [[ 9.88953237e-01 1.48227050e-01 -4.86521353e-04 2.85727547e+02] [-1.48227032e-01 9.88953357e-01 7.21897312e-05 -3.50992366e+01] [ 4.91847395e-04 7.23347905e-07 9.99999879e-01 -6.85155230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.76, Y:-35.10, Z:-6.85 [[ 9.88458980e-01 1.51488139e-01 -4.34232525e-04 2.85758257e+02] [-1.51488126e-01 9.88459075e-01 6.14398815e-05 -3.51028974e+01] [ 4.38528493e-04 5.05026909e-06 9.99999904e-01 -6.85208324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.79, Y:-35.11, Z:-6.85 [[ 9.88138668e-01 1.53563506e-01 -4.70759858e-04 2.85789025e+02] [-1.53563491e-01 9.88138780e-01 6.98600829e-05 -3.51082727e+01] [ 4.75904031e-04 3.26007770e-06 9.99999887e-01 -6.85218563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.82, Y:-35.11, Z:-6.85 [[ 9.87497786e-01 1.57632844e-01 9.69616489e-05 2.85819069e+02] [-1.57632844e-01 9.87497791e-01 -1.36039701e-05 -3.51124238e+01] [-9.78938470e-05 -1.85045008e-06 9.99999995e-01 -6.85204357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.85, Y:-35.11, Z:-6.85 [[ 9.87138135e-01 1.59869382e-01 2.87371659e-04 2.85849348e+02] [-1.59869377e-01 9.87138177e-01 -4.03189873e-05 -3.51148821e+01] [-2.90121308e-04 -6.14151804e-06 9.99999958e-01 -6.85265602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.88, Y:-35.12, Z:-6.85 [[ 9.86468179e-01 1.63951286e-01 7.13078013e-04 2.85878931e+02] [-1.63951256e-01 9.86468436e-01 -1.00314909e-04 -3.51156450e+01] [-7.19875711e-04 -1.79525709e-05 9.99999741e-01 -6.85342127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.91, Y:-35.12, Z:-6.85 [[ 9.86202070e-01 1.65541683e-01 1.19544784e-03 2.85908713e+02] [-1.65541601e-01 9.86202794e-01 -1.68224145e-04 -3.51180914e+01] [-1.20680211e-03 -3.19933488e-05 9.99999271e-01 -6.85371398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.94, Y:-35.12, Z:-6.85 [[ 9.86043517e-01 1.66473890e-01 2.15080697e-03 2.85938905e+02] [-1.66473627e-01 9.86045861e-01 -3.01686496e-04 -3.51198003e+01] [-2.17101723e-03 -6.05766243e-05 9.99997642e-01 -6.85462810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.97, Y:-35.12, Z:-6.86 [[ 9.86154205e-01 1.65800103e-01 3.19518866e-03 2.85968470e+02] [-1.65799520e-01 9.86159378e-01 -4.48412060e-04 -3.51204646e+01] [-3.22531203e-03 -8.75573069e-05 9.99994795e-01 -6.85533730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.00, Y:-35.12, Z:-6.86 [[ 9.86406834e-01 1.64292897e-01 3.06637032e-03 2.85999063e+02] [-1.64292354e-01 9.86411596e-01 -4.30072976e-04 -3.51241501e+01] [-3.09536118e-03 -7.95542744e-05 9.99995206e-01 -6.85601429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944203822 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:286.03, Y:-35.13, Z:-6.86 [[ 9.87243278e-01 1.59191082e-01 2.98491867e-03 2.86029143e+02] [-1.59190543e-01 9.87247788e-01 -4.18648996e-04 -3.51252464e+01] [-3.01349954e-03 -6.18624180e-05 9.99995457e-01 -6.86054371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:286.06, Y:-35.13, Z:-6.86 [[ 9.87769225e-01 1.55890221e-01 3.19318525e-03 2.86060272e+02] [-1.55889589e-01 9.87774385e-01 -4.47370055e-04 -3.51284328e+01] [-3.22388721e-03 -5.58859633e-05 9.99994802e-01 -6.86037422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.09, Y:-35.13, Z:-6.86 [[ 9.88777148e-01 1.49372792e-01 2.74249700e-03 2.86091470e+02] [-1.49372309e-01 9.88780950e-01 -3.81217323e-04 -3.51333047e+01] [-2.76867229e-03 -3.27141331e-05 9.99996167e-01 -6.85974359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03420382200005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:286.12, Y:-35.14, Z:-6.86 [[ 9.89258376e-01 1.46157314e-01 2.42988503e-03 2.86122300e+02] [-1.46156917e-01 9.89261360e-01 -3.40779373e-04 -3.51386609e+01] [-2.45359877e-03 -1.80256568e-05 9.99996990e-01 -6.86356323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.15, Y:-35.15, Z:-6.86 [[ 9.89661592e-01 1.43410645e-01 1.82237005e-03 2.86153173e+02] [-1.43410418e-01 9.89663269e-01 -2.55007067e-04 -3.51450877e+01] [-1.84010343e-03 -8.97615176e-06 9.99998307e-01 -6.86106029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.18, Y:-35.15, Z:-6.86 [[ 9.90225086e-01 1.39461708e-01 2.17057682e-03 2.86184405e+02] [-1.39461383e-01 9.90227465e-01 -3.01401460e-04 -3.51533533e+01] [-2.19139874e-03 -4.25635774e-06 9.99997599e-01 -6.86118599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.22, Y:-35.16, Z:-6.86 [[ 9.90216525e-01 1.39522484e-01 2.17020258e-03 2.86216731e+02] [-1.39522153e-01 9.90218903e-01 -3.04061531e-04 -3.51579959e+01] [-2.19139904e-03 -1.70458441e-06 9.99997599e-01 -6.86193884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:286.25, Y:-35.16, Z:-6.87 [[ 9.90353158e-01 1.38564293e-01 7.47128864e-04 2.86248406e+02] [-1.38564256e-01 9.90353440e-01 -1.01293010e-04 -3.51638716e+01] [-7.53957235e-04 -3.20950289e-06 9.99999716e-01 -6.86551843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18420382200003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:286.28, Y:-35.17, Z:-6.87 [[ 9.90297243e-01 1.38964547e-01 4.73804120e-04 2.86280355e+02] [-1.38964532e-01 9.90297357e-01 -6.28302248e-05 -3.51688633e+01] [-4.77938141e-04 -3.62136951e-06 9.99999886e-01 -6.86706014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21420382200006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:286.31, Y:-35.18, Z:-6.87 [[ 9.90166625e-01 1.39888652e-01 1.10480342e-03 2.86311914e+02] [-1.39888569e-01 9.90167241e-01 -1.52064125e-04 -3.51752693e+01] [-1.11521220e-03 -3.98054821e-06 9.99999378e-01 -6.86784084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.34, Y:-35.18, Z:-6.87 [[ 9.89842708e-01 1.42161377e-01 1.24768777e-03 2.86343006e+02] [-1.42161272e-01 9.89843494e-01 -1.72456125e-04 -3.51849541e+01] [-1.25953222e-03 -6.66844349e-06 9.99999207e-01 -6.86555560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.37, Y:-35.19, Z:-6.87 [[ 9.89349593e-01 1.45548068e-01 1.77286753e-03 2.86374040e+02] [-1.45547859e-01 9.89351181e-01 -2.47058940e-04 -3.51932521e+01] [-1.78994753e-03 -1.36094107e-05 9.99998398e-01 -6.86825293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.41, Y:-35.20, Z:-6.87 [[ 9.89113111e-01 1.47145269e-01 1.87688230e-03 2.86405729e+02] [-1.47145037e-01 9.89114892e-01 -2.61878084e-04 -3.51989012e+01] [-1.89498635e-03 -1.71468697e-05 9.99998204e-01 -6.86715279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33420382200006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:286.44, Y:-35.21, Z:-6.87 [[ 9.88791678e-01 1.49279422e-01 2.58287839e-03 2.86436540e+02] [-1.49278984e-01 9.88795051e-01 -3.62711220e-04 -3.52056619e+01] [-2.60808269e-03 -2.69236264e-05 9.99996599e-01 -6.87096500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.47, Y:-35.21, Z:-6.87 [[ 9.88322124e-01 1.52339433e-01 3.47498140e-03 2.86468215e+02] [-1.52338651e-01 9.88328232e-01 -4.90289811e-04 -3.52145581e+01] [-3.50911270e-03 -4.48097096e-05 9.99993842e-01 -6.86870747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.50, Y:-35.22, Z:-6.87 [[ 9.87965772e-01 1.54616843e-01 4.15511113e-03 2.86501012e+02] [-1.54615740e-01 9.87974508e-01 -5.87221907e-04 -3.52204834e+01] [-4.19593827e-03 -6.22904389e-05 9.99991195e-01 -6.86891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.53, Y:-35.23, Z:-6.87 [[ 9.87144412e-01 1.59757420e-01 4.84531746e-03 2.86532395e+02] [-1.59755973e-01 9.87156298e-01 -6.86660983e-04 -3.52264338e+01] [-4.89278483e-03 -9.62348523e-05 9.99988026e-01 -6.86942380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.56, Y:-35.23, Z:-6.87 [[ 9.86703202e-01 1.62464853e-01 4.68652374e-03 2.86564681e+02] [-1.62463528e-01 9.86714326e-01 -6.64513189e-04 -3.52319508e+01] [-4.73222015e-03 -1.05711891e-04 9.99988797e-01 -6.87038043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.60, Y:-35.24, Z:-6.87 [[ 9.85753698e-01 1.68177074e-01 2.47342543e-03 2.86595396e+02] [-1.68185494e-01 9.85748348e-01 3.71944209e-03 -3.52396366e+01] [-1.81265014e-03 -4.08244807e-03 9.99990024e-01 -6.86774732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51420382200007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:286.63, Y:-35.24, Z:-6.88 [[ 9.85310175e-01 1.70752781e-01 2.71066153e-03 2.86628321e+02] [-1.70739805e-01 9.85306067e-01 -4.45788875e-03 -3.52400363e+01] [-3.43202815e-03 3.92958532e-03 9.99986390e-01 -6.87585764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.66, Y:-35.25, Z:-6.87 [[ 9.84664598e-01 1.74437736e-01 2.66555911e-03 2.86657813e+02] [-1.74437344e-01 9.84668202e-01 -3.80820166e-04 -3.52452817e+01] [-2.69112070e-03 -8.99929148e-05 9.99996375e-01 -6.87401826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.69, Y:-35.25, Z:-6.88 [[ 9.84463998e-01 1.75567434e-01 2.59084772e-03 2.86689431e+02] [-1.75567068e-01 9.84467403e-01 -3.69924338e-04 -3.52481370e+01] [-2.61555180e-03 -9.06903451e-05 9.99996575e-01 -6.87512283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.72, Y:-35.25, Z:-6.88 [[ 9.84378866e-01 1.76045767e-01 2.47698628e-03 2.86721008e+02] [-1.76045433e-01 9.84381979e-01 -3.53705208e-04 -3.52510147e+01] [-2.50056896e-03 -8.78821921e-05 9.99996870e-01 -6.87639301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.75, Y:-35.26, Z:-6.88 [[ 9.84631823e-01 1.74621099e-01 2.76481670e-03 2.86752701e+02] [-1.74620686e-01 9.84635700e-01 -3.91989140e-04 -3.52551782e+01] [-2.79078681e-03 -9.68292080e-05 9.99996101e-01 -6.87723212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.78, Y:-35.26, Z:-6.88 [[ 9.85114436e-01 1.71880494e-01 2.57771774e-03 2.86783381e+02] [-1.71880124e-01 9.85117805e-01 -3.65897923e-04 -3.52583655e+01] [-2.60224636e-03 -8.26071182e-05 9.99996611e-01 -6.87825263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:-35.26, Z:-6.88 [[ 9.85320679e-01 1.70700364e-01 2.13181795e-03 2.86815313e+02] [-1.70700110e-01 9.85322983e-01 -3.02114520e-04 -3.52613328e+01] [-2.15210028e-03 -6.62218742e-05 9.99997682e-01 -6.87932917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.85, Y:-35.26, Z:-6.88 [[ 9.85798789e-01 1.67917215e-01 2.13448923e-03 2.86847100e+02] [-1.67916946e-01 9.85801098e-01 -3.05832811e-04 -3.52628666e+01] [-2.15553642e-03 -5.69272986e-05 9.99997675e-01 -6.88019945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.88, Y:-35.27, Z:-6.88 [[ 9.86074755e-01 1.66279029e-01 2.80387047e-03 2.86878210e+02] [-1.66278565e-01 9.86078739e-01 -3.99367963e-04 -3.52672368e+01] [-2.83124358e-03 -7.24168917e-05 9.99995989e-01 -6.88097193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:-35.27, Z:-6.88 [[ 9.86444635e-01 1.64063854e-01 3.16774090e-03 2.86909790e+02] [-1.64063248e-01 9.86449718e-01 -4.51919177e-04 -3.52712114e+01] [-3.19896072e-03 -7.39166156e-05 9.99994881e-01 -6.88092666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814203822 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:286.94, Y:-35.27, Z:-6.88 [[ 9.87312705e-01 1.58730037e-01 4.28924911e-03 2.86940830e+02] [-1.58728867e-01 9.87322019e-01 -6.13976559e-04 -3.52735982e+01] [-4.33232662e-03 -7.46407964e-05 9.99990613e-01 -6.88450770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84420382200005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:286.97, Y:-35.28, Z:-6.88 [[ 9.88270210e-01 1.52629020e-01 5.13564183e-03 2.86973604e+02] [-1.52627255e-01 9.88283552e-01 -7.36167592e-04 -3.52775796e+01] [-5.18783088e-03 -5.63064160e-05 9.99986542e-01 -6.88398586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.00, Y:-35.28, Z:-6.88 [[ 9.88714183e-01 1.49713396e-01 5.49216569e-03 2.87004941e+02] [-1.49711324e-01 9.88729436e-01 -7.88903669e-04 -3.52827734e+01] [-5.54837533e-03 -4.22391496e-05 9.99984607e-01 -6.88227020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.04, Y:-35.29, Z:-6.88 [[ 9.89068583e-01 1.47333079e-01 6.02510133e-03 2.87036591e+02] [-1.47330531e-01 9.89086934e-01 -8.67100332e-04 -3.52875177e+01] [-6.08710157e-03 -3.00596813e-05 9.99981473e-01 -6.88255080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.07, Y:-35.29, Z:-6.88 [[ 9.89516068e-01 1.44250427e-01 7.05452302e-03 2.87069874e+02] [-1.44246843e-01 9.89541214e-01 -1.01685288e-03 -3.52906120e+01] [-7.12742273e-03 -1.14004143e-05 9.99974600e-01 -6.88314669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.10, Y:-35.30, Z:-6.88 [[ 9.89630670e-01 1.43471896e-01 6.85211279e-03 2.87101793e+02] [-1.43468487e-01 9.89654392e-01 -9.89104805e-04 -3.52959654e+01] [-6.92313226e-03 -4.21380306e-06 9.99976035e-01 -6.88420395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.13, Y:-35.30, Z:-6.89 [[ 9.89536274e-01 1.44164020e-01 5.89051412e-03 2.87134811e+02] [-1.44161512e-01 9.89553806e-01 -8.50470739e-04 -3.53006584e+01] [-5.95158795e-03 -7.61377532e-06 9.99982289e-01 -6.88660090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:287.17, Y:-35.30, Z:-6.89 [[ 9.89380708e-01 1.45243060e-01 5.50156044e-03 2.87166507e+02] [-1.45240883e-01 9.89396004e-01 -7.95360567e-04 -3.53033241e+01] [-5.55874252e-03 -1.21370953e-05 9.99984550e-01 -6.88749078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.20, Y:-35.31, Z:-6.89 [[ 9.88930970e-01 1.48303480e-01 4.64902826e-03 2.87197686e+02] [-1.48301958e-01 9.88941898e-01 -6.72352749e-04 -3.53075972e+01] [-4.69733108e-03 -2.45495379e-05 9.99988967e-01 -6.88963486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.23, Y:-35.31, Z:-6.89 [[ 9.88646792e-01 1.50187460e-01 4.60945863e-03 2.87229518e+02] [-1.50185980e-01 9.88657537e-01 -6.67683879e-04 -3.53122443e+01] [-4.65745376e-03 -3.21725347e-05 9.99989153e-01 -6.88778205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.26, Y:-35.32, Z:-6.89 [[ 9.88311174e-01 1.52354933e-01 5.38494535e-03 2.87260769e+02] [-1.52352935e-01 9.88325843e-01 -7.81852560e-04 -3.53158389e+01] [-5.44119974e-03 -4.76986057e-05 9.99985195e-01 -6.88822252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.29, Y:-35.32, Z:-6.89 [[ 9.87803249e-01 1.55607123e-01 5.58257001e-03 2.87292539e+02] [-1.55605023e-01 9.87819021e-01 -8.11296016e-04 -3.53180318e+01] [-5.64081228e-03 -6.72750949e-05 9.99984088e-01 -6.88922898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.32, Y:-35.32, Z:-6.89 [[ 9.87641623e-01 1.56660411e-01 4.64106160e-03 2.87324268e+02] [-1.56658971e-01 9.87652526e-01 -6.74607723e-04 -3.53199087e+01] [-4.68944053e-03 -6.07932664e-05 9.99989003e-01 -6.89052056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:287.36, Y:-35.32, Z:-6.89 [[ 9.87600480e-01 1.56931424e-01 4.22129929e-03 2.87356473e+02] [-1.56930233e-01 9.87609500e-01 -6.13928284e-04 -3.53230724e+01] [-4.26533992e-03 -5.61336132e-05 9.99990902e-01 -6.89386963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.39, Y:-35.33, Z:-6.89 [[ 9.87692921e-01 1.56359080e-01 3.81207876e-03 2.87387186e+02] [-1.56358103e-01 9.87700276e-01 -5.54948294e-04 -3.53255371e+01] [-3.85196245e-03 -4.79309017e-05 9.99992580e-01 -6.89271118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.42, Y:-35.33, Z:-6.89 [[ 9.87941042e-01 1.54786390e-01 3.69731963e-03 2.87417378e+02] [-1.54785446e-01 9.87947960e-01 -5.41689759e-04 -3.53286504e+01] [-3.73660559e-03 -3.71337252e-05 9.99993018e-01 -6.89391444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.45, Y:-35.33, Z:-6.89 [[ 9.88083195e-01 1.53866669e-01 4.08008641e-03 2.87447947e+02] [-1.53865513e-01 9.88091619e-01 -5.97622511e-04 -3.53329373e+01] [-4.12345337e-03 -3.72838278e-05 9.99991498e-01 -6.89441998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.48, Y:-35.34, Z:-6.89 [[ 9.88318894e-01 1.52347765e-01 3.99016156e-03 2.87478845e+02] [-1.52346646e-01 9.88326949e-01 -5.84536423e-04 -3.53368738e+01] [-4.03263702e-03 -3.01793409e-05 9.99991868e-01 -6.89487476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.51, Y:-35.34, Z:-6.90 [[ 9.88414250e-01 1.51723852e-01 4.14044837e-03 2.87509615e+02] [-1.51722642e-01 9.88422922e-01 -6.06663281e-04 -3.53404492e+01] [-4.18455937e-03 -2.85651340e-05 9.99991244e-01 -6.89563470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:287.54, Y:-35.34, Z:-6.90 [[ 9.88598725e-01 1.50495241e-01 4.87280366e-03 2.87541483e+02] [-1.50493549e-01 9.88610733e-01 -7.14187951e-04 -3.53420931e+01] [-4.92478789e-03 -2.72802170e-05 9.99987873e-01 -6.89874618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.57, Y:-35.35, Z:-6.90 [[ 9.88685622e-01 1.49916972e-01 5.06382005e-03 2.87571839e+02] [-1.49915135e-01 9.88698590e-01 -7.42558312e-04 -3.53453625e+01] [-5.11791383e-03 -2.49865373e-05 9.99986903e-01 -6.89784658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444203822 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:287.60, Y:-35.35, Z:-6.90 [[ 9.88921740e-01 1.48338017e-01 5.44296139e-03 2.87601949e+02] [-1.48335875e-01 9.88936718e-01 -7.97461913e-04 -3.53502444e+01] [-5.50103829e-03 -1.87590145e-05 9.99984869e-01 -6.90053103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.63, Y:-35.35, Z:-6.90 [[ 9.89047111e-01 1.47487152e-01 5.77521911e-03 2.87632865e+02] [-1.47484720e-01 9.89063972e-01 -8.47118206e-04 -3.53548509e+01] [-5.83700020e-03 -1.39167573e-05 9.99982964e-01 -6.89939456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.66, Y:-35.36, Z:-6.90 [[ 9.89357711e-01 1.45391804e-01 5.70467374e-03 2.87664573e+02] [-1.45389410e-01 9.89374157e-01 -8.34366426e-04 -3.53612671e+01] [-5.76536681e-03 -3.91229277e-06 9.99983380e-01 -6.90015173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.70, Y:-35.37, Z:-6.90 [[ 9.89504630e-01 1.44396453e-01 5.50014813e-03 2.87696638e+02] [-1.44394208e-01 9.89519916e-01 -8.05265684e-04 -3.53674421e+01] [-5.55878362e-03 2.62459016e-06 9.99984550e-01 -6.90129136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.73, Y:-35.37, Z:-6.90 [[ 9.89646256e-01 1.43442537e-01 4.95252903e-03 2.87728644e+02] [-1.43440702e-01 9.89658648e-01 -7.25507097e-04 -3.53734433e+01] [-5.00538176e-03 7.60113939e-06 9.99987473e-01 -6.90192741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.76, Y:-35.38, Z:-6.90 [[ 9.89880671e-01 1.41807771e-01 5.17821037e-03 2.87759262e+02] [-1.41805731e-01 9.89894214e-01 -7.61027378e-04 -3.53807290e+01] [-5.23380009e-03 1.90263862e-05 9.99986303e-01 -6.90255579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.79, Y:-35.39, Z:-6.90 [[ 9.89928431e-01 1.41480749e-01 4.98992696e-03 2.87789368e+02] [-1.41478848e-01 9.89941007e-01 -7.33801974e-04 -3.53871442e+01] [-5.04355217e-03 2.04423198e-05 9.99987281e-01 -6.90340697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.82, Y:-35.39, Z:-6.91 [[ 9.89749352e-01 1.42784135e-01 2.98516850e-03 2.87821332e+02] [-1.42783467e-01 9.89753854e-01 -4.36975608e-04 -3.53937900e+01] [-3.01697521e-03 6.26361845e-06 9.99995449e-01 -6.90673349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.85, Y:-35.40, Z:-6.91 [[ 9.89565562e-01 1.44041000e-01 3.49123374e-03 2.87853064e+02] [-1.44040089e-01 9.89571721e-01 -5.12139935e-04 -3.53982336e+01] [-3.52859533e-03 3.91842390e-06 9.99993774e-01 -6.90606011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.88, Y:-35.40, Z:-6.91 [[ 9.89080698e-01 1.47327857e-01 3.72488926e-03 2.87884257e+02] [-1.47326830e-01 9.89087712e-01 -5.50197271e-04 -3.54045568e+01] [-3.76530158e-03 -4.58662575e-06 9.99992911e-01 -6.90649099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:-35.41, Z:-6.91 [[ 9.88809818e-01 1.49151967e-01 2.97237752e-03 2.87915821e+02] [-1.49151330e-01 9.88814285e-01 -4.36040295e-04 -3.54110973e+01] [-3.00416562e-03 -1.21731362e-05 9.99995487e-01 -6.90685378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.95, Y:-35.42, Z:-6.91 [[ 9.88217726e-01 1.53013321e-01 3.55663890e-03 2.87946328e+02] [-1.53012428e-01 9.88224126e-01 -5.23408714e-04 -3.54184406e+01] [-3.59484487e-03 -2.69681845e-05 9.99993538e-01 -6.90734571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:-35.42, Z:-6.91 [[ 9.87926282e-01 1.54871017e-01 4.07796702e-03 2.87976987e+02] [-1.54869854e-01 9.87934698e-01 -6.01350552e-04 -3.54238843e+01] [-4.12189688e-03 -3.74641438e-05 9.99991504e-01 -6.90774825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.01, Y:-35.43, Z:-6.91 [[ 9.87454825e-01 1.57826142e-01 4.88649345e-03 2.88007986e+02] [-1.57824489e-01 9.87466914e-01 -7.24509281e-04 -3.54274781e+01] [-4.93959711e-03 -5.57881454e-05 9.99987799e-01 -6.90831684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:-35.43, Z:-6.91 [[ 9.87205439e-01 1.59353981e-01 5.63286547e-03 2.88040019e+02] [-1.59351823e-01 9.87221507e-01 -8.32818874e-04 -3.54318130e+01] [-5.69359894e-03 -7.54440581e-05 9.99983788e-01 -6.90872225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:-35.44, Z:-6.91 [[ 9.86966737e-01 1.60780752e-01 6.79778046e-03 2.88072017e+02] [-1.60777629e-01 9.86990142e-01 -1.00705664e-03 -3.54366773e+01] [-6.87125762e-03 -9.89996136e-05 9.99976388e-01 -6.90979553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.10, Y:-35.45, Z:-6.91 [[ 9.86711859e-01 1.62337125e-01 6.80921379e-03 2.88103792e+02] [-1.62334023e-01 9.86735347e-01 -1.00954425e-03 -3.54450291e+01] [-6.88277844e-03 -1.09237783e-04 9.99976307e-01 -6.91286741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.14, Y:-35.45, Z:-6.91 [[ 9.86737253e-01 1.62199022e-01 6.40863729e-03 2.88135217e+02] [-1.62196263e-01 9.86758059e-01 -9.51387987e-04 -3.54535349e+01] [-6.47808870e-03 -1.00687049e-04 9.99979012e-01 -6.91136088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:-35.46, Z:-6.91 [[ 9.86819749e-01 1.61707217e-01 6.12847592e-03 2.88166496e+02] [-1.61704678e-01 9.86838775e-01 -9.10819133e-04 -3.54580689e+01] [-6.19510370e-03 -9.21889162e-05 9.99980806e-01 -6.91268635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.20, Y:-35.46, Z:-6.91 [[ 9.86960548e-01 1.60900925e-01 4.44617479e-03 2.88198955e+02] [-1.60899583e-01 9.86970561e-01 -6.60119563e-04 -3.54631049e+01] [-4.49445748e-03 -6.38757045e-05 9.99989898e-01 -6.91431812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:-35.47, Z:-6.92 [[ 9.86946634e-01 1.60986261e-01 4.44574069e-03 2.88232058e+02] [-1.60984907e-01 9.86956645e-01 -6.63023678e-04 -3.54681888e+01] [-4.49449102e-03 -6.13281658e-05 9.99989898e-01 -6.91509035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0742038220001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.26, Y:-35.47, Z:-6.92 [[ 9.86964099e-01 1.60885436e-01 4.21230445e-03 2.88263465e+02] [-1.60884227e-01 9.86973086e-01 -6.26627064e-04 -3.54741960e+01] [-4.25824629e-03 -5.92349297e-05 9.99990932e-01 -6.91816003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.29, Y:-35.48, Z:-6.92 [[ 9.86838687e-01 1.61650862e-01 4.28996280e-03 2.88294769e+02] [-1.61649610e-01 9.86848010e-01 -6.39377481e-04 -3.54799415e+01] [-4.33689718e-03 -6.25083774e-05 9.99990594e-01 -6.91596492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:-35.49, Z:-6.92 [[ 9.86567397e-01 1.63314082e-01 3.64439989e-03 2.88325853e+02] [-1.63313190e-01 9.86574127e-01 -5.43067500e-04 -3.54863216e+01] [-3.68416121e-03 -5.94058801e-05 9.99993212e-01 -6.91596681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.36, Y:-35.49, Z:-6.92 [[ 9.86374440e-01 1.64479791e-01 3.44416146e-03 2.88357241e+02] [-1.64479001e-01 9.86380451e-01 -5.13389804e-04 -3.54918262e+01] [-3.48169579e-03 -6.00976555e-05 9.99993937e-01 -6.91694232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:-35.50, Z:-6.92 [[ 9.85990364e-01 1.66762537e-01 3.64131614e-03 2.88388302e+02] [-1.66761654e-01 9.85997085e-01 -5.46879147e-04 -3.54965577e+01] [-3.68152605e-03 -6.80143325e-05 9.99993221e-01 -6.91763937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.42, Y:-35.50, Z:-6.92 [[ 9.85819674e-01 1.67763242e-01 3.88129153e-03 2.88418992e+02] [-1.67762246e-01 9.85827312e-01 -5.83053577e-04 -3.55002706e+01] [-3.92409815e-03 -7.63484975e-05 9.99992298e-01 -6.91814851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.45, Y:-35.50, Z:-6.92 [[ 9.85710533e-01 1.68392460e-01 4.32722060e-03 2.88451184e+02] [-1.68391239e-01 9.85720027e-01 -6.47448946e-04 -3.55046853e+01] [-4.37445353e-03 -9.04687941e-05 9.99990428e-01 -6.91883321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:-35.51, Z:-6.92 [[ 9.85746864e-01 1.68164761e-01 4.87158826e-03 2.88483496e+02] [-1.68163205e-01 9.85758897e-01 -7.30268701e-04 -3.55086095e+01] [-4.92501694e-03 -9.93618141e-05 9.99987867e-01 -6.92000390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.52, Y:-35.51, Z:-6.92 [[ 9.86025603e-01 1.66529382e-01 4.63421905e-03 2.88515701e+02] [-1.66527954e-01 9.86036489e-01 -6.95078878e-04 -3.55128353e+01] [-4.68526014e-03 -8.63614482e-05 9.99989020e-01 -6.92067140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.55, Y:-35.52, Z:-6.92 [[ 9.86243660e-01 1.65238151e-01 4.44930797e-03 2.88546529e+02] [-1.65236816e-01 9.86253693e-01 -6.68498437e-04 -3.55185012e+01] [-4.49860787e-03 -7.58871395e-05 9.99989878e-01 -6.92176534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374203822 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:288.58, Y:-35.52, Z:-6.93 [[ 9.86571367e-01 1.63257612e-01 4.88774588e-03 2.88578627e+02] [-1.63255975e-01 9.86583472e-01 -7.34734469e-04 -3.55246942e+01] [-4.94212030e-03 -7.30857284e-05 9.99987785e-01 -6.92566768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:-35.53, Z:-6.92 [[ 9.87049467e-01 1.60362158e-01 4.16259719e-03 2.88610511e+02] [-1.60360938e-01 9.87058243e-01 -6.27290106e-04 -3.55303625e+01] [-4.20931947e-03 -4.83516264e-05 9.99991140e-01 -6.92345794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.64, Y:-35.54, Z:-6.92 [[ 9.87282461e-01 1.58927345e-01 3.92963002e-03 2.88642647e+02] [-1.58926252e-01 9.87290280e-01 -5.91040105e-04 -3.55353296e+01] [-3.97361796e-03 -4.09978405e-05 9.99992104e-01 -6.92420972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:-35.54, Z:-6.92 [[ 9.87748213e-01 1.55955425e-01 5.60119994e-03 2.88674041e+02] [-1.55953136e-01 9.87764093e-01 -8.45802192e-04 -3.55415076e+01] [-5.66457162e-03 -3.80850932e-05 9.99983955e-01 -6.92433934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:-35.55, Z:-6.92 [[ 9.87942009e-01 1.54702190e-01 6.14966183e-03 2.88706647e+02] [-1.54699397e-01 9.87961149e-01 -9.30151035e-04 -3.55473047e+01] [-6.21952337e-03 -3.24136948e-05 9.99980658e-01 -6.92465091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:-35.55, Z:-6.92 [[ 9.88316958e-01 1.52294810e-01 5.99017578e-03 2.88739579e+02] [-1.52292110e-01 9.88335111e-01 -9.06983413e-04 -3.55518486e+01] [-6.05842991e-03 -1.58694202e-05 9.99981647e-01 -6.92461714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.77, Y:-35.56, Z:-6.93 [[ 9.88467807e-01 1.51324623e-01 5.67908993e-03 2.88772060e+02] [-1.51322176e-01 9.88484121e-01 -8.60717159e-04 -3.55566039e+01] [-5.74393792e-03 -8.58104015e-06 9.99983503e-01 -6.92556536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.80, Y:-35.56, Z:-6.93 [[ 9.88700157e-01 1.49852672e-01 4.02209459e-03 2.88803002e+02] [-1.49851428e-01 9.88708338e-01 -6.10473804e-04 -3.55621813e+01] [-4.06815959e-03 8.58926588e-07 9.99991725e-01 -6.92948019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:-35.57, Z:-6.93 [[ 9.88657440e-01 1.50140888e-01 3.76575830e-03 2.88835837e+02] [-1.50139804e-01 9.88664611e-01 -5.70416605e-04 -3.55673309e+01] [-3.80871482e-03 -1.44359343e-06 9.99992747e-01 -6.92814392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.87, Y:-35.57, Z:-6.93 [[ 9.88595197e-01 1.50540967e-01 4.11750449e-03 2.88867854e+02] [-1.50539669e-01 9.88603772e-01 -6.25195510e-04 -3.55717124e+01] [-4.16469801e-03 -1.78248428e-06 9.99991328e-01 -6.92883272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.90, Y:-35.58, Z:-6.93 [[ 9.88512565e-01 1.51074284e-01 4.41250970e-03 2.88900865e+02] [-1.51072794e-01 9.88522413e-01 -6.70887168e-04 -3.55757636e+01] [-4.46321854e-03 -3.42977544e-06 9.99990040e-01 -6.93180095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:-35.58, Z:-6.93 [[ 9.88339457e-01 1.52199947e-01 4.50498610e-03 2.88932143e+02] [-1.52198400e-01 9.88349724e-01 -6.86189881e-04 -3.55810172e+01] [-4.55693983e-03 -7.46314347e-06 9.99989617e-01 -6.92917981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:-35.59, Z:-6.93 [[ 9.88318198e-01 1.52312123e-01 5.30622316e-03 2.88965066e+02] [-1.52309970e-01 9.88332443e-01 -8.09762591e-04 -3.55860528e+01] [-5.36764915e-03 -7.88758708e-06 9.99985594e-01 -6.92958227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382200007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:289.00, Y:-35.59, Z:-6.93 [[ 9.88508607e-01 1.51081418e-01 5.01380232e-03 2.88997520e+02] [-1.51079477e-01 9.88521323e-01 -7.65823650e-04 -3.55907921e+01] [-5.07195222e-03 -4.59361700e-07 9.99987138e-01 -6.93344400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:-35.60, Z:-6.93 [[ 9.88588183e-01 1.50588404e-01 4.06663745e-03 2.89028856e+02] [-1.50587123e-01 9.88596547e-01 -6.21345602e-04 -3.55966069e+01] [-4.11383118e-03 1.87168770e-06 9.99991538e-01 -6.93114440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.06, Y:-35.60, Z:-6.93 [[ 9.88783868e-01 1.49304129e-01 3.83929633e-03 2.89060791e+02] [-1.49302976e-01 9.88791321e-01 -5.86803526e-04 -3.56049673e+01] [-3.88387508e-03 7.00349070e-06 9.99992458e-01 -6.93274743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85420382200004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:289.09, Y:-35.61, Z:-6.94 [[ 9.88931380e-01 1.48352589e-01 2.49715136e-03 2.89092323e+02] [-1.48352101e-01 9.88934532e-01 -3.80519747e-04 -3.56139263e+01] [-2.52597030e-03 5.85026946e-06 9.99996810e-01 -6.93705983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.12, Y:-35.62, Z:-6.94 [[ 9.88839765e-01 1.48961396e-01 2.53402184e-03 2.89123489e+02] [-1.48960891e-01 9.88843012e-01 -3.88304529e-04 -3.56208409e+01] [-2.56359218e-03 6.50080912e-06 9.99996714e-01 -6.93571357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.16, Y:-35.63, Z:-6.94 [[ 9.88712426e-01 1.49812580e-01 1.98235704e-03 2.89155397e+02] [-1.49812276e-01 9.88714413e-01 -3.01901535e-04 -3.56274968e+01] [-2.00521363e-03 1.51237851e-06 9.99997990e-01 -6.93577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.19, Y:-35.63, Z:-6.93 [[ 9.88207147e-01 1.53085894e-01 3.36799133e-03 2.89187687e+02] [-1.53085022e-01 9.88212886e-01 -5.16736064e-04 -3.56329290e+01] [-3.40739744e-03 -4.94675569e-06 9.99994195e-01 -6.93475764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:-35.64, Z:-6.94 [[ 9.87829895e-01 1.55473482e-01 4.48269909e-03 2.89219227e+02] [-1.55471944e-01 9.87840066e-01 -6.91586099e-04 -3.56370734e+01] [-4.53571307e-03 -1.37645209e-05 9.99989714e-01 -6.93508668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.25, Y:-35.64, Z:-6.93 [[ 9.87127027e-01 1.59845136e-01 5.45578325e-03 2.89251914e+02] [-1.59842925e-01 9.87142103e-01 -8.41683202e-04 -3.56427670e+01] [-5.52017231e-03 -4.12201176e-05 9.99984763e-01 -6.93459220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.28, Y:-35.65, Z:-6.93 [[ 9.86746965e-01 1.62153667e-01 6.05108089e-03 2.89284330e+02] [-1.62150980e-01 9.86765517e-01 -9.35260991e-04 -3.56479725e+01] [-6.12265396e-03 -5.83227525e-05 9.99981255e-01 -6.93481979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.32, Y:-35.65, Z:-6.94 [[ 9.86032416e-01 1.66436709e-01 6.23672994e-03 2.89316301e+02] [-1.66433931e-01 9.86052136e-01 -9.65566794e-04 -3.56520276e+01] [-6.31044664e-03 -8.59233218e-05 9.99980085e-01 -6.93567911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.35, Y:-35.66, Z:-6.94 [[ 9.85713190e-01 1.68348023e-01 5.33394714e-03 2.89349146e+02] [-1.68346018e-01 9.85727618e-01 -8.25964096e-04 -3.56580283e+01] [-5.39686843e-03 -8.37850572e-05 9.99985433e-01 -6.93616090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.38, Y:-35.66, Z:-6.94 [[ 9.85153531e-01 1.71605681e-01 4.90000058e-03 2.89382046e+02] [-1.71604026e-01 9.85165713e-01 -7.59334328e-04 -3.56633795e+01] [-4.95761865e-03 -9.27989343e-05 9.99987707e-01 -6.93597208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.42, Y:-35.67, Z:-6.94 [[ 9.84866248e-01 1.73258355e-01 4.47399730e-03 2.89415214e+02] [-1.73256990e-01 9.84876405e-01 -6.93756694e-04 -3.56669603e+01] [-4.52653352e-03 -9.18937543e-05 9.99989751e-01 -6.93658604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.45, Y:-35.67, Z:-6.94 [[ 9.84578305e-01 1.74884203e-01 4.59102191e-03 2.89447898e+02] [-1.74882779e-01 9.84589003e-01 -7.12994362e-04 -3.56693740e+01] [-4.64496113e-03 -1.00891890e-04 9.99989207e-01 -6.93773477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:-35.67, Z:-6.94 [[ 9.84592271e-01 1.74790510e-01 5.13205755e-03 2.89479684e+02] [-1.74788719e-01 9.84605640e-01 -7.98855026e-04 -3.56746236e+01] [-5.19268508e-03 -1.10479281e-04 9.99986512e-01 -6.93830889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.51, Y:-35.68, Z:-6.94 [[ 9.84940423e-01 1.72804661e-01 5.55988125e-03 2.89512119e+02] [-1.72802521e-01 9.84956110e-01 -8.66643749e-04 -3.56795623e+01] [-5.62599908e-03 -1.07169034e-04 9.99984168e-01 -6.93844721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.54, Y:-35.68, Z:-6.94 [[ 9.85222164e-01 1.71172190e-01 6.11306561e-03 2.89543767e+02] [-1.71169560e-01 9.85241123e-01 -9.54788040e-04 -3.56847762e+01] [-6.18627678e-03 -1.05692410e-04 9.99980859e-01 -6.93931419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.58, Y:-35.69, Z:-6.94 [[ 9.85580973e-01 1.69107476e-01 5.72778344e-03 2.89575982e+02] [-1.69105128e-01 9.85597613e-01 -8.95236180e-04 -3.56910100e+01] [-5.79668081e-03 -8.62698069e-05 9.99983195e-01 -6.94003978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.61, Y:-35.70, Z:-6.94 [[ 9.86348492e-01 1.64598006e-01 4.91412332e-03 2.89606959e+02] [-1.64596219e-01 9.86360732e-01 -7.68639580e-04 -3.56991808e+01] [-4.97361482e-03 -5.06996263e-05 9.99987630e-01 -6.94113916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36420382200004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:289.64, Y:-35.70, Z:-6.95 [[ 9.86716773e-01 1.62391933e-01 4.34405511e-03 2.89637901e+02] [-1.62390514e-01 9.86726334e-01 -6.79934667e-04 -3.57049019e+01] [-4.39680948e-03 -3.45304003e-05 9.99990333e-01 -6.94504531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.67, Y:-35.71, Z:-6.94 [[ 9.87089244e-01 1.60139008e-01 3.21271739e-03 2.89670321e+02] [-1.60138222e-01 9.87094472e-01 -5.02083214e-04 -3.57123904e+01] [-3.25165869e-03 -1.88779122e-05 9.99994713e-01 -6.94316143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42420382200004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:289.70, Y:-35.72, Z:-6.95 [[ 9.87268951e-01 1.59029912e-01 3.08305984e-03 2.89702619e+02] [-1.59029182e-01 9.87273765e-01 -4.82133962e-04 -3.57185437e+01] [-3.12049781e-03 -1.43005935e-05 9.99995131e-01 -6.94707508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45420382200007 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:289.73, Y:-35.72, Z:-6.95 [[ 9.87443900e-01 1.57956108e-01 2.10058927e-03 2.89733881e+02] [-1.57955768e-01 9.87446134e-01 -3.27738407e-04 -3.57243546e+01] [-2.12598704e-03 -8.17689958e-06 9.99997740e-01 -6.94802918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.77, Y:-35.73, Z:-6.95 [[ 9.87395010e-01 1.58270067e-01 1.29622617e-03 2.89765038e+02] [-1.58269939e-01 9.87395861e-01 -2.00883603e-04 -3.57311184e+01] [-1.31168222e-03 -6.80217041e-06 9.99999140e-01 -6.94617244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:-35.74, Z:-6.95 [[ 9.87450062e-01 1.57928565e-01 9.71492280e-04 2.89796432e+02] [-1.57928494e-01 9.87450540e-01 -1.49283775e-04 -3.57406487e+01] [-9.82876749e-04 -6.01603971e-06 9.99999517e-01 -6.94679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.83, Y:-35.75, Z:-6.95 [[ 9.87342082e-01 1.58597125e-01 1.60132532e-03 2.89828898e+02] [-1.58596930e-01 9.87343381e-01 -2.49397716e-04 -3.57471396e+01] [-1.62061171e-03 -7.72441826e-06 9.99998687e-01 -6.94699470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.86, Y:-35.75, Z:-6.95 [[ 9.86939945e-01 1.61054186e-01 3.33082161e-03 2.89860464e+02] [-1.61053333e-01 9.86945565e-01 -5.24710850e-04 -3.57529840e+01] [-3.37184649e-03 -1.85818223e-05 9.99994315e-01 -6.94681650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-35.76, Z:-6.95 [[ 9.86615344e-01 1.63009358e-01 4.25578293e-03 2.89892376e+02] [-1.63007974e-01 9.86624522e-01 -6.72488359e-04 -3.57585212e+01] [-4.30848169e-03 -3.02392194e-05 9.99990718e-01 -6.94665850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.92, Y:-35.76, Z:-6.95 [[ 9.85670121e-01 1.68631316e-01 4.22993188e-03 2.89923896e+02] [-1.68629997e-01 9.85679195e-01 -6.69271292e-04 -3.57634970e+01] [-4.28221595e-03 -5.36126846e-05 9.99990830e-01 -6.94733468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.96, Y:-35.77, Z:-6.95 [[ 9.85091001e-01 1.71999677e-01 3.43969816e-03 2.89955956e+02] [-1.71998826e-01 9.85097004e-01 -5.43825517e-04 -3.57688650e+01] [-3.48197417e-03 -5.59064238e-05 9.99993936e-01 -6.94807175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.99, Y:-35.77, Z:-6.95 [[ 9.83937189e-01 1.78475004e-01 3.77911436e-03 2.89987109e+02] [-1.78474017e-01 9.83944442e-01 -5.99381260e-04 -3.57711200e+01] [-3.82541315e-03 -8.47202104e-05 9.99992679e-01 -6.94863101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:-35.77, Z:-6.95 [[ 9.83470644e-01 1.81019665e-01 4.16803381e-03 2.90020011e+02] [-1.81018487e-01 9.83479471e-01 -6.61234916e-04 -3.57739383e+01] [-4.21887221e-03 -1.04186045e-04 9.99991095e-01 -6.94915562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.05, Y:-35.78, Z:-6.95 [[ 9.82927412e-01 1.83950588e-01 3.98553644e-03 2.90051517e+02] [-1.83949527e-01 9.82935486e-01 -6.34333631e-04 -3.57770232e+01] [-4.03421124e-03 -1.09633628e-04 9.99991857e-01 -6.95076746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:-35.78, Z:-6.95 [[ 9.82907444e-01 1.84074713e-01 3.07523353e-03 2.90083675e+02] [-1.84074085e-01 9.82912251e-01 -4.88261669e-04 -3.57812869e+01] [-3.11256134e-03 -8.61547700e-05 9.99995152e-01 -6.95171700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.12, Y:-35.78, Z:-6.95 [[ 9.83383058e-01 1.81520439e-01 2.84462416e-03 2.90115036e+02] [-1.81519890e-01 9.83387169e-01 -4.52113522e-04 -3.57825766e+01] [-2.87943475e-03 -7.17550886e-05 9.99995852e-01 -6.95296979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.14, Y:-35.79, Z:-6.95 [[ 9.83881429e-01 1.78794599e-01 3.13455530e-03 2.90144722e+02] [-1.78793906e-01 9.83886420e-01 -5.01954314e-04 -3.57865233e+01] [-3.17379311e-03 -6.65758593e-05 9.99994961e-01 -6.95385721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874203822 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:290.18, Y:-35.79, Z:-6.96 [[ 9.84517545e-01 1.75253348e-01 3.38652093e-03 2.90176857e+02] [-1.75252529e-01 9.84523367e-01 -5.39273107e-04 -3.57919432e+01] [-3.42861841e-03 -6.25725241e-05 9.99994120e-01 -6.95705961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-35.80, Z:-6.95 [[ 9.85773430e-01 1.68036756e-01 3.79387897e-03 2.90209971e+02] [-1.68035672e-01 9.85780730e-01 -6.04750307e-04 -3.57970664e+01] [-3.84155306e-03 -4.13602189e-05 9.99992620e-01 -6.95401995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.24, Y:-35.80, Z:-6.95 [[ 9.85763210e-01 1.68096710e-01 3.79335662e-03 2.90242200e+02] [-1.68095614e-01 9.85770508e-01 -6.08003162e-04 -3.58023357e+01] [-3.84158241e-03 -3.82994624e-05 9.99992620e-01 -6.95477301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.27, Y:-35.81, Z:-6.96 [[ 9.86237961e-01 1.65275288e-01 4.33158304e-03 2.90273937e+02] [-1.65273841e-01 9.86247473e-01 -6.92464982e-04 -3.58058905e+01] [-4.38646017e-03 -3.29621124e-05 9.99990379e-01 -6.95575700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.31, Y:-35.81, Z:-6.96 [[ 9.86890614e-01 1.61328538e-01 4.47424457e-03 2.90305494e+02] [-1.61326947e-01 9.86900756e-01 -7.16613017e-04 -3.58103640e+01] [-4.53124548e-03 -1.45975579e-05 9.99989734e-01 -6.95668769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02420382200006 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:290.34, Y:-35.82, Z:-6.96 [[ 9.87051361e-01 1.60352704e-01 4.07700664e-03 2.90338322e+02] [-1.60351375e-01 9.87059781e-01 -6.52846256e-04 -3.58165712e+01] [-4.12893494e-03 -9.36083556e-06 9.99991476e-01 -6.96038247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.37, Y:-35.82, Z:-6.96 [[ 9.87097808e-01 1.60078872e-01 3.55976354e-03 2.90371490e+02] [-1.60077857e-01 9.87104227e-01 -5.69977382e-04 -3.58214456e+01] [-3.60509898e-03 -7.21589567e-06 9.99993502e-01 -6.95818718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.40, Y:-35.82, Z:-6.96 [[ 9.87088577e-01 1.60133093e-01 3.67869136e-03 2.90403630e+02] [-1.60132006e-01 9.87095432e-01 -5.90167768e-04 -3.58236688e+01] [-3.72572483e-03 -6.52836313e-06 9.99993059e-01 -6.96104790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.44, Y:-35.83, Z:-6.96 [[ 9.86944294e-01 1.61009914e-01 4.09483253e-03 2.90435071e+02] [-1.61008568e-01 9.86952789e-01 -6.58422288e-04 -3.58287137e+01] [-4.14741890e-03 -9.47700071e-06 9.99991399e-01 -6.96010521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382200007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.47, Y:-35.83, Z:-6.96 [[ 9.86592522e-01 1.63141432e-01 4.47974918e-03 2.90466127e+02] [-1.63139837e-01 9.86602692e-01 -7.21700454e-04 -3.58317891e+01] [-4.53747185e-03 -1.88012794e-05 9.99989705e-01 -6.96202895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.50, Y:-35.83, Z:-6.96 [[ 9.86339671e-01 1.64654228e-01 4.79988282e-03 2.90497963e+02] [-1.64652411e-01 9.86351349e-01 -7.74045456e-04 -3.58347376e+01] [-4.86182076e-03 -2.68405378e-05 9.99988181e-01 -6.96057876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.53, Y:-35.84, Z:-6.96 [[ 9.85926227e-01 1.67101940e-01 5.13965934e-03 2.90529302e+02] [-1.67099883e-01 9.85939623e-01 -8.30260602e-04 -3.58377072e+01] [-5.20613195e-03 -4.02607692e-05 9.99986447e-01 -6.96134414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-35.84, Z:-6.96 [[ 9.85775383e-01 1.67986516e-01 5.23695900e-03 2.90560249e+02] [-1.67984374e-01 9.85789292e-01 -8.49310979e-04 -3.58417286e+01] [-5.30521090e-03 -4.24974257e-05 9.99985926e-01 -6.96150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-35.84, Z:-6.96 [[ 9.85470953e-01 1.69747633e-01 5.72198512e-03 2.90592110e+02] [-1.69745104e-01 9.85487564e-01 -9.28166492e-04 -3.58403775e+01] [-5.79649924e-03 -5.65978441e-05 9.99983199e-01 -6.96159601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.62, Y:-35.84, Z:-6.96 [[ 9.85365800e-01 1.70351188e-01 5.89177178e-03 2.90622185e+02] [-1.70348521e-01 9.85383412e-01 -9.55317462e-04 -3.58422404e+01] [-5.96839364e-03 -6.23174517e-05 9.99982187e-01 -6.96486986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.65, Y:-35.84, Z:-6.96 [[ 9.85232200e-01 1.71153904e-01 4.88387719e-03 2.90653464e+02] [-1.71152076e-01 9.85244304e-01 -7.92982917e-04 -3.58421430e+01] [-4.94753431e-03 -5.46134160e-05 9.99987759e-01 -6.96374846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.68, Y:-35.84, Z:-6.96 [[ 9.85205637e-01 1.71318410e-01 4.45588094e-03 2.90683475e+02] [-1.71316891e-01 9.85215712e-01 -7.23268060e-04 -3.58433973e+01] [-4.51391305e-03 -5.07998990e-05 9.99989811e-01 -6.96412184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.71, Y:-35.84, Z:-6.96 [[ 9.85191475e-01 1.71382122e-01 5.09164690e-03 2.90713054e+02] [-1.71380135e-01 9.85204631e-01 -8.27208877e-04 -3.58439389e+01] [-5.15808291e-03 -5.76480009e-05 9.99986695e-01 -6.96461174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.74, Y:-35.84, Z:-6.96 [[ 9.85154544e-01 1.71566377e-01 5.95841682e-03 2.90743409e+02] [-1.71563661e-01 9.85172560e-01 -9.67800755e-04 -3.58402947e+01] [-6.03611083e-03 -6.88144908e-05 9.99981780e-01 -6.96461086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.77, Y:-35.84, Z:-6.97 [[ 9.85145272e-01 1.71641620e-01 5.28659875e-03 2.90773552e+02] [-1.71639484e-01 9.85159454e-01 -8.58616357e-04 -3.58412187e+01] [-5.35551704e-03 -6.15272359e-05 9.99985657e-01 -6.96552209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.80, Y:-35.84, Z:-6.97 [[ 9.85235451e-01 1.71114394e-01 5.56505370e-03 2.90802958e+02] [-1.71112019e-01 9.85251166e-01 -9.03670232e-04 -3.58379677e+01] [-5.63760663e-03 -6.19196268e-05 9.99984107e-01 -6.96715347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.83, Y:-35.84, Z:-6.97 [[ 9.85402614e-01 1.70150903e-01 5.50986000e-03 2.90831751e+02] [-1.70148558e-01 9.85418016e-01 -8.94992965e-04 -3.58385717e+01] [-5.58179918e-03 -5.55663292e-05 9.99984420e-01 -6.96795612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.86, Y:-35.84, Z:-6.97 [[ 9.85766073e-01 1.68030705e-01 5.56158938e-03 2.90860463e+02] [-1.68028282e-01 9.85781761e-01 -9.03319606e-04 -3.58355088e+01] [-5.63429880e-03 -4.40424887e-05 9.99984126e-01 -6.96915156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.89, Y:-35.84, Z:-6.97 [[ 9.86088106e-01 1.66144260e-01 5.13150182e-03 2.90889166e+02] [-1.66142176e-01 9.86101457e-01 -8.32817056e-04 -3.58368069e+01] [-5.19854919e-03 -3.13278847e-05 9.99986487e-01 -6.97004868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-35.83, Z:-6.97 [[ 9.86936403e-01 1.61029690e-01 5.09652617e-03 2.90918994e+02] [-1.61027565e-01 9.86949563e-01 -8.27188018e-04 -3.58347195e+01] [-5.16321610e-03 -4.29923163e-06 9.99986671e-01 -6.97134906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.95, Y:-35.84, Z:-6.97 [[ 9.87423316e-01 1.58020037e-01 4.98628525e-03 2.90947430e+02] [-1.58017964e-01 9.87435906e-01 -8.09370428e-04 -3.58355215e+01] [-5.05153384e-03 1.12685885e-05 9.99987241e-01 -6.97266908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65420382200006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:290.98, Y:-35.83, Z:-6.97 [[ 9.88310672e-01 1.52410973e-01 3.59321857e-03 2.90976938e+02] [-1.52409860e-01 9.88317203e-01 -5.83122156e-04 -3.58343876e+01] [-3.64011394e-03 2.86639099e-05 9.99993374e-01 -6.97493785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.01, Y:-35.84, Z:-6.97 [[ 9.88646691e-01 1.50229448e-01 2.97209650e-03 2.91005806e+02] [-1.50228677e-01 9.88651158e-01 -4.82377747e-04 -3.58364484e+01] [-3.01083399e-03 3.04070375e-05 9.99995467e-01 -6.97452857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.03, Y:-35.84, Z:-6.97 [[ 9.89152344e-01 1.46871706e-01 2.51846760e-03 2.91033507e+02] [-1.46871140e-01 9.89155549e-01 -4.09157222e-04 -3.58380404e+01] [-2.55124982e-03 3.48286169e-05 9.99996745e-01 -6.97472630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74420382200003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:291.06, Y:-35.84, Z:-6.98 [[ 9.89345335e-01 1.45561336e-01 2.77587394e-03 2.91061533e+02] [-1.45560645e-01 9.89349228e-01 -4.50505440e-04 -3.58409137e+01] [-2.81188492e-03 4.16474555e-05 9.99996046e-01 -6.97769413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77420382200006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:291.09, Y:-35.84, Z:-6.98 [[ 9.89414902e-01 1.45087530e-01 2.78581768e-03 2.91090276e+02] [-1.45086833e-01 9.89418823e-01 -4.51706333e-04 -3.58418276e+01] [-2.82187740e-03 4.27395126e-05 9.99996018e-01 -6.97709655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.12, Y:-35.84, Z:-6.98 [[ 9.89188184e-01 1.46613036e-01 3.36952697e-03 2.91118900e+02] [-1.46612026e-01 9.89193922e-01 -5.46175092e-04 -3.58422618e+01] [-3.41319199e-03 4.62567721e-05 9.99994174e-01 -6.97539103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.15, Y:-35.85, Z:-6.98 [[ 9.89035265e-01 1.47629376e-01 3.84853783e-03 2.91146707e+02] [-1.47628068e-01 9.89042752e-01 -6.23360852e-04 -3.58450305e+01] [-3.89839482e-03 4.83736600e-05 9.99992400e-01 -6.97596883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.17, Y:-35.85, Z:-6.98 [[ 9.88875705e-01 1.48690535e-01 3.99563950e-03 2.91174086e+02] [-1.48689135e-01 9.88883776e-01 -6.46880634e-04 -3.58477693e+01] [-4.04740810e-03 4.55763620e-05 9.99991808e-01 -6.97604930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:291.20, Y:-35.85, Z:-6.98 [[ 9.88583862e-01 1.50577220e-01 5.33368113e-03 2.91203442e+02] [-1.50574758e-01 9.88598249e-01 -8.62506433e-04 -3.58488271e+01] [-5.40274165e-03 4.95421966e-05 9.99985404e-01 -6.97741497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.23, Y:-35.85, Z:-6.98 [[ 9.88382943e-01 1.51846833e-01 6.45737934e-03 2.91232545e+02] [-1.51843255e-01 9.88404035e-01 -1.04365941e-03 -3.58521989e+01] [-6.54097617e-03 5.10256667e-05 9.99978606e-01 -6.97622984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95420382200007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:291.26, Y:-35.85, Z:-6.98 [[ 9.88079971e-01 1.53792237e-01 6.77639749e-03 2.91260832e+02] [-1.53788343e-01 9.88103206e-01 -1.09511055e-03 -3.58529021e+01] [-6.86419959e-03 3.99258544e-05 9.99976440e-01 -6.97889029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.29, Y:-35.86, Z:-6.98 [[ 9.87977972e-01 1.54453373e-01 6.60927083e-03 2.91289479e+02] [-1.54449688e-01 9.88000078e-01 -1.06742233e-03 -3.58559496e+01] [-6.69482708e-03 3.37899266e-05 9.99977589e-01 -6.97817501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.32, Y:-35.86, Z:-6.98 [[ 9.87805606e-01 1.55544075e-01 6.79156257e-03 2.91317301e+02] [-1.55540211e-01 9.87828953e-01 -1.09667500e-03 -3.58588854e+01] [-6.87948344e-03 2.69406402e-05 9.99976336e-01 -6.97951588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.35, Y:-35.86, Z:-6.98 [[ 9.87799445e-01 1.55591425e-01 6.60038353e-03 2.91346012e+02] [-1.55587781e-01 9.87821496e-01 -1.06518883e-03 -3.58627415e+01] [-6.68573498e-03 2.52539100e-05 9.99977650e-01 -6.97993294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.37, Y:-35.87, Z:-6.98 [[ 9.87760568e-01 1.55818590e-01 7.04464204e-03 2.91373703e+02] [-1.55814446e-01 9.87785688e-01 -1.13664456e-03 -3.58653168e+01] [-7.13570694e-03 2.50756760e-05 9.99974540e-01 -6.98042708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10420382200004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:291.40, Y:-35.87, Z:-6.98 [[ 9.87747517e-01 1.55922183e-01 6.56627785e-03 2.91402266e+02] [-1.55918589e-01 9.87769342e-01 -1.05894351e-03 -3.58692338e+01] [-6.65108073e-03 2.21640434e-05 9.99977881e-01 -6.98294786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.43, Y:-35.87, Z:-6.98 [[ 9.87637676e-01 1.56633347e-01 6.14941517e-03 2.91430379e+02] [-1.56630209e-01 9.87656820e-01 -9.91496596e-04 -3.58738535e+01] [-6.22881326e-03 1.60552080e-05 9.99980601e-01 -6.98117479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.46, Y:-35.88, Z:-6.98 [[ 9.87321474e-01 1.58597414e-01 6.57013703e-03 2.91458451e+02] [-1.58593878e-01 9.87343335e-01 -1.05911580e-03 -3.58771997e+01] [-6.65495403e-03 3.70426081e-06 9.99977856e-01 -6.98173878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.49, Y:-35.88, Z:-6.98 [[ 9.87124187e-01 1.59808520e-01 6.86123462e-03 2.91486214e+02] [-1.59804694e-01 9.87148032e-01 -1.10574303e-03 -3.58807974e+01] [-6.94976141e-03 -4.95181005e-06 9.99975850e-01 -6.98225484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.51, Y:-35.88, Z:-6.98 [[ 9.86678880e-01 1.62540106e-01 6.74543537e-03 2.91513608e+02] [-1.62536473e-01 9.86701937e-01 -1.08707539e-03 -3.58827409e+01] [-6.83242749e-03 -2.37849368e-05 9.99976658e-01 -6.98254224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.54, Y:-35.89, Z:-6.98 [[ 9.86416969e-01 1.64115693e-01 6.89945311e-03 2.91541236e+02] [-1.64111939e-01 9.86441097e-01 -1.11059753e-03 -3.58857305e+01] [-6.98817058e-03 -3.67703823e-05 9.99975582e-01 -6.98305866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.57, Y:-35.89, Z:-6.98 [[ 9.85769376e-01 1.67958414e-01 6.97919506e-03 2.91569800e+02] [-1.67954673e-01 9.85794079e-01 -1.12290307e-03 -3.58872390e+01] [-7.06865019e-03 -6.52649603e-05 9.99975015e-01 -6.98326428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.60, Y:-35.89, Z:-6.98 [[ 9.85391385e-01 1.70166847e-01 6.86016665e-03 2.91597903e+02] [-1.70163290e-01 9.85415262e-01 -1.10326969e-03 -3.58885617e+01] [-6.94785284e-03 -8.01960787e-05 9.99975860e-01 -6.98351360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.63, Y:-35.89, Z:-6.98 [[ 9.84572177e-01 1.74849913e-01 6.71839670e-03 2.91625430e+02] [-1.74846612e-01 9.84595092e-01 -1.08019589e-03 -3.58862254e+01] [-6.80377257e-03 -1.11158083e-04 9.99976848e-01 -6.98397385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.65, Y:-35.89, Z:-6.99 [[ 9.84181008e-01 1.77054235e-01 6.28823706e-03 2.91653588e+02] [-1.77051392e-01 9.84201089e-01 -1.01040142e-03 -3.58882377e+01] [-6.36778562e-03 -1.18923231e-04 9.99979718e-01 -6.98519460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:-35.89, Z:-6.99 [[ 9.83911083e-01 1.78566162e-01 5.75379811e-03 2.91680320e+02] [-1.78563803e-01 9.83927900e-01 -9.25263209e-04 -3.58900173e+01] [-5.82654319e-03 -1.17043349e-04 9.99983019e-01 -6.98570529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-35.89, Z:-6.99 [[ 9.83802117e-01 1.79162274e-01 5.85433222e-03 2.91708646e+02] [-1.79159854e-01 9.83819528e-01 -9.39574070e-04 -3.58894682e+01] [-5.92794259e-03 -1.24506344e-04 9.99982422e-01 -6.98709566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.74, Y:-35.89, Z:-6.99 [[ 9.84476829e-01 1.75432526e-01 5.36682195e-03 2.91737584e+02] [-1.75430438e-01 9.84491452e-01 -8.61109602e-04 -3.58881231e+01] [-5.43465697e-03 -9.37614746e-05 9.99985228e-01 -6.98988494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-35.89, Z:-6.99 [[ 9.84969499e-01 1.72663107e-01 4.74734954e-03 2.91765143e+02] [-1.72661441e-01 9.84980937e-01 -7.61780535e-04 -3.58892076e+01] [-4.80758019e-03 -6.93536183e-05 9.99988441e-01 -6.98925695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-35.89, Z:-6.99 [[ 9.85555277e-01 1.69301770e-01 4.20800770e-03 2.91793398e+02] [-1.69300432e-01 9.85564259e-01 -6.74822222e-04 -3.58911853e+01] [-4.26151059e-03 -4.73429178e-05 9.99990919e-01 -6.98999218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-35.89, Z:-6.99 [[ 9.86732706e-01 1.62269226e-01 5.22167655e-03 2.91820875e+02] [-1.62267071e-01 9.86746522e-01 -8.36568220e-04 -3.58939206e+01] [-5.28822045e-03 -2.18369347e-05 9.99986017e-01 -6.99058585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:291.85, Y:-35.90, Z:-6.99 [[ 9.87228299e-01 1.59207793e-01 5.75888487e-03 2.91848461e+02] [-1.59205124e-01 9.87245095e-01 -9.22021239e-04 -3.58968465e+01] [-5.83222381e-03 -6.59851954e-06 9.99982992e-01 -6.99314938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.88, Y:-35.90, Z:-6.99 [[ 9.87957162e-01 1.54619909e-01 5.77313555e-03 2.91875758e+02] [-1.54617149e-01 9.87974030e-01 -9.24067948e-04 -3.58979401e+01] [-5.84658729e-03 2.03137870e-05 9.99982908e-01 -6.99094168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:291.90, Y:-35.90, Z:-6.99 [[ 9.88209470e-01 1.52984759e-01 6.14058855e-03 2.91904105e+02] [-1.52981610e-01 9.88228548e-01 -9.82030757e-04 -3.59002401e+01] [-6.21854064e-03 3.10549723e-05 9.99980664e-01 -6.99402635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:-35.90, Z:-6.99 [[ 9.88411686e-01 1.51727943e-01 4.57942800e-03 2.91932057e+02] [-1.51726178e-01 9.88422294e-01 -7.32460555e-04 -3.59007415e+01] [-4.63754346e-03 2.91534654e-05 9.99989246e-01 -6.99278567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382200007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:291.96, Y:-35.90, Z:-7.00 [[ 9.88498505e-01 1.51168364e-01 4.33951667e-03 2.91959195e+02] [-1.51166774e-01 9.88508030e-01 -6.94069658e-04 -3.59018520e+01] [-4.39456845e-03 3.00960833e-05 9.99990343e-01 -6.99714838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:-35.90, Z:-6.99 [[ 9.88537415e-01 1.50938892e-01 3.35098416e-03 2.91985925e+02] [-1.50937942e-01 9.88543095e-01 -5.36094303e-04 -3.59040646e+01] [-3.39350974e-03 2.41586230e-05 9.99994242e-01 -6.99475846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-35.91, Z:-7.00 [[ 9.88694023e-01 1.49919676e-01 2.86717888e-03 2.92014191e+02] [-1.49918976e-01 9.88698180e-01 -4.58522213e-04 -3.59058845e+01] [-2.90351605e-03 2.34936482e-05 9.99995785e-01 -6.99550683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-35.91, Z:-7.00 [[ 9.88785240e-01 1.49325338e-01 2.38588195e-03 2.92040444e+02] [-1.49324849e-01 9.88788118e-01 -3.82775908e-04 -3.59100323e+01] [-2.41628986e-03 2.22117071e-05 9.99997081e-01 -6.99655863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-35.91, Z:-7.00 [[ 9.88906897e-01 1.48513831e-01 2.60613429e-03 2.92068028e+02] [-1.48513249e-01 9.88910330e-01 -4.16318099e-04 -3.59126831e+01] [-2.63906212e-03 2.46543677e-05 9.99996517e-01 -6.99651428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-35.92, Z:-7.00 [[ 9.88915565e-01 1.48456101e-01 2.60620060e-03 2.92096178e+02] [-1.48455520e-01 9.88918999e-01 -4.15901600e-04 -3.59170311e+01] [-2.63906441e-03 2.43867012e-05 9.99996517e-01 -6.99717082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:292.12, Y:-35.92, Z:-7.00 [[ 9.88762398e-01 1.49445209e-01 3.87943491e-03 2.92124441e+02] [-1.49443932e-01 9.88770008e-01 -6.18517284e-04 -3.59164397e+01] [-3.92830333e-03 3.18086252e-05 9.99992284e-01 -6.99946607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-35.92, Z:-7.00 [[ 9.88563969e-01 1.50757161e-01 3.68201615e-03 2.92151506e+02] [-1.50756020e-01 9.88570826e-01 -5.87081932e-04 -3.59191355e+01] [-3.72844055e-03 2.52819454e-05 9.99993049e-01 -6.99763595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-35.92, Z:-7.00 [[ 9.88276737e-01 1.52622344e-01 3.93846318e-03 2.92178936e+02] [-1.52621056e-01 9.88284584e-01 -6.27215506e-04 -3.59228034e+01] [-3.98804955e-03 1.87700830e-05 9.99992048e-01 -6.99864329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-35.93, Z:-7.00 [[ 9.87482710e-01 1.57674556e-01 4.07831719e-03 2.92205829e+02] [-1.57673219e-01 9.87491131e-01 -6.49348949e-04 -3.59263840e+01] [-4.12968787e-03 -1.82053941e-06 9.99991473e-01 -6.99957605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.23, Y:-35.93, Z:-7.00 [[ 9.87050493e-01 1.60366879e-01 3.71334877e-03 2.92233321e+02] [-1.60365791e-01 9.87057477e-01 -5.90857814e-04 -3.59287135e+01] [-3.76004269e-03 -1.22876183e-05 9.99992931e-01 -7.00024298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.26, Y:-35.93, Z:-7.00 [[ 9.86179812e-01 1.65627655e-01 4.10583361e-03 2.92260190e+02] [-1.65626372e-01 9.86188359e-01 -6.53048419e-04 -3.59283907e+01] [-4.15728819e-03 -3.60111570e-05 9.99991358e-01 -7.00104961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-35.93, Z:-7.00 [[ 9.85858002e-01 1.67508668e-01 4.98459955e-03 2.92288203e+02] [-1.67506805e-01 9.85870602e-01 -7.91707780e-04 -3.59311217e+01] [-5.04678807e-03 -5.44428973e-05 9.99987263e-01 -7.00119332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-35.93, Z:-7.00 [[ 9.85426106e-01 1.69970659e-01 6.73527611e-03 2.92315847e+02] [-1.69967323e-01 9.85449119e-01 -1.06886090e-03 -3.59315758e+01] [-6.81894690e-03 -9.14934158e-05 9.99976747e-01 -7.00073804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:-35.93, Z:-7.00 [[ 9.85311701e-01 1.70613887e-01 7.19396725e-03 2.92342628e+02] [-1.70610104e-01 9.85337958e-01 -1.14088043e-03 -3.59337409e+01] [-7.28313904e-03 -1.03240665e-04 9.99973472e-01 -7.00137284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.37, Y:-35.94, Z:-7.00 [[ 9.85380920e-01 1.70204631e-01 7.40452612e-03 2.92370746e+02] [-1.70200618e-01 9.85408734e-01 -1.17340280e-03 -3.59369616e+01] [-7.49620330e-03 -1.04006191e-04 9.99971898e-01 -7.00240605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:-35.94, Z:-7.00 [[ 9.85863908e-01 1.67340180e-01 8.34385740e-03 2.92397167e+02] [-1.67334987e-01 9.85899212e-01 -1.32160009e-03 -3.59412065e+01] [-8.44735923e-03 -9.33014437e-05 9.99964316e-01 -7.00329488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-35.94, Z:-7.00 [[ 9.86766037e-01 1.62015423e-01 6.61748279e-03 2.92425534e+02] [-1.62012039e-01 9.86788225e-01 -1.04781343e-03 -3.59435370e+01] [-6.69981603e-03 -3.81651769e-05 9.99977555e-01 -7.00427789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.45, Y:-35.95, Z:-7.01 [[ 9.87245027e-01 1.59087923e-01 6.18785271e-03 2.92452839e+02] [-1.59084909e-01 9.87264419e-01 -9.79431396e-04 -3.59471012e+01] [-6.26486252e-03 -1.74552104e-05 9.99980375e-01 -7.00537275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.48, Y:-35.95, Z:-7.01 [[ 9.88105160e-01 1.53677870e-01 5.59505922e-03 2.92480362e+02] [-1.53675321e-01 9.88121001e-01 -8.85359397e-04 -3.59539564e+01] [-5.66465567e-03 1.50056686e-05 9.99983956e-01 -7.00672312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:-35.96, Z:-7.01 [[ 9.88503067e-01 1.51116943e-01 5.03540723e-03 2.92506876e+02] [-1.51114840e-01 9.88515892e-01 -7.97688926e-04 -3.59600304e+01] [-5.09812438e-03 2.75931914e-05 9.99987004e-01 -7.00811472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33420382200006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.53, Y:-35.96, Z:-7.01 [[ 9.88862499e-01 1.48739940e-01 5.23329786e-03 2.92534191e+02] [-1.48737645e-01 9.88876347e-01 -8.27115983e-04 -3.59644752e+01] [-5.29810965e-03 3.95155772e-05 9.99985964e-01 -7.01092312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.56, Y:-35.97, Z:-7.01 [[ 9.89323958e-01 1.45655078e-01 4.76493960e-03 2.92561778e+02] [-1.45653141e-01 9.89335431e-01 -7.52880530e-04 -3.59695421e+01] [-4.82378444e-03 5.08143250e-05 9.99988364e-01 -7.00861420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39420382200007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.59, Y:-35.98, Z:-7.01 [[ 9.89510001e-01 1.44400812e-01 4.28520338e-03 2.92588350e+02] [-1.44399234e-01 9.89519279e-01 -6.77153165e-04 -3.59759517e+01] [-4.33807283e-03 5.12697449e-05 9.99990589e-01 -7.01212710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.62, Y:-35.98, Z:-7.01 [[ 9.89475737e-01 1.44654183e-01 3.59618107e-03 2.92615827e+02] [-1.44653073e-01 9.89482272e-01 -5.68044173e-04 -3.59812418e+01] [-3.64052738e-03 4.18672829e-05 9.99993372e-01 -7.01156736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.64, Y:-35.99, Z:-7.01 [[ 9.89353735e-01 1.45503919e-01 2.79217035e-03 2.92642049e+02] [-1.45503250e-01 9.89357675e-01 -4.42452041e-04 -3.59862907e+01] [-2.82683367e-03 3.14717190e-05 9.99996004e-01 -7.01064957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:-35.99, Z:-7.01 [[ 9.89002819e-01 1.47854345e-01 3.53776188e-03 2.92668454e+02] [-1.47853294e-01 9.89009146e-01 -5.58303563e-04 -3.59921755e+01] [-3.58142646e-03 2.90940508e-05 9.99993586e-01 -7.01152561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:-36.00, Z:-7.01 [[ 9.88770805e-01 1.49376310e-01 4.36032591e-03 2.92694838e+02] [-1.49374731e-01 9.88780419e-01 -6.87270924e-04 -3.59973957e+01] [-4.41406687e-03 2.82309137e-05 9.99990258e-01 -7.01220738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.72, Y:-36.00, Z:-7.01 [[ 9.88153452e-01 1.53405918e-01 4.40219046e-03 2.92722591e+02] [-1.53404352e-01 9.88163258e-01 -6.93264425e-04 -3.60027720e+01] [-4.45643373e-03 9.73646046e-06 9.99990070e-01 -7.01256741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.75, Y:-36.01, Z:-7.01 [[ 9.87866522e-01 1.55227167e-01 4.92560543e-03 2.92749221e+02] [-1.55225231e-01 9.87878802e-01 -7.75339350e-04 -3.60073362e+01] [-4.98625492e-03 1.35354663e-06 9.99987569e-01 -7.01308701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.78, Y:-36.01, Z:-7.01 [[ 9.87465637e-01 1.57724702e-01 5.87656262e-03 2.92776465e+02] [-1.57721996e-01 9.87483123e-01 -9.23889280e-04 -3.60131728e+01] [-5.94872657e-03 -1.45542721e-05 9.99982306e-01 -7.01360776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.80, Y:-36.02, Z:-7.01 [[ 9.87362546e-01 1.58373550e-01 5.74638217e-03 2.92803955e+02] [-1.58370976e-01 9.87379268e-01 -9.03060018e-04 -3.60187491e+01] [-5.81687945e-03 -1.84125157e-05 9.99983082e-01 -7.01418904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.83, Y:-36.02, Z:-7.01 [[ 9.87215883e-01 1.59299071e-01 5.34842373e-03 2.92831710e+02] [-1.59296857e-01 9.87230371e-01 -8.40259761e-04 -3.60241197e+01] [-5.41397894e-03 -2.24693079e-05 9.99985344e-01 -7.01472829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.86, Y:-36.03, Z:-7.01 [[ 9.86763854e-01 1.62058513e-01 5.84258340e-03 2.92858816e+02] [-1.62055921e-01 9.86781149e-01 -9.17503022e-04 -3.60268147e+01] [-5.91404034e-03 -4.14664146e-05 9.99982511e-01 -7.01479368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.89, Y:-36.03, Z:-7.02 [[ 9.86279564e-01 1.64998939e-01 5.28894049e-03 2.92886258e+02] [-1.64996859e-01 9.86293743e-01 -8.30071589e-04 -3.60329724e+01] [-5.35340985e-03 -5.39759260e-05 9.99985669e-01 -7.01660611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:-36.04, Z:-7.02 [[ 9.86186146e-01 1.65598341e-01 3.75173159e-03 2.92913183e+02] [-1.65597299e-01 9.86193281e-01 -5.89058096e-04 -3.60398100e+01] [-3.79747954e-03 -4.03556834e-05 9.99992789e-01 -7.01814019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.94, Y:-36.05, Z:-7.02 [[ 9.86221413e-01 1.65408204e-01 2.72958486e-03 2.92939259e+02] [-1.65407650e-01 9.86225190e-01 -4.29090277e-04 -3.60454168e+01] [-2.76296040e-03 -2.83161966e-05 9.99996183e-01 -7.01984035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:-36.05, Z:-7.02 [[ 9.86421058e-01 1.64231719e-01 1.19961984e-03 2.92967170e+02] [-1.64231610e-01 9.86421787e-01 -1.89280748e-04 -3.60487994e+01] [-1.21441705e-03 -1.03049822e-05 9.99999263e-01 -7.02114203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.00, Y:-36.05, Z:-7.02 [[ 9.86572605e-01 1.63322204e-01 5.94084476e-04 2.92995382e+02] [-1.63322177e-01 9.86572784e-01 -9.45627399e-05 -3.60521789e+01] [-6.01551771e-04 -3.73416106e-06 9.99999819e-01 -7.02183380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874203822 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.02, Y:-36.06, Z:-7.02 [[ 9.86987923e-01 1.60791611e-01 9.47709293e-04 2.93022617e+02] [-1.60791541e-01 9.86988378e-01 -1.49783896e-04 -3.60564582e+01] [-9.59462052e-04 -4.54874113e-06 9.99999540e-01 -7.02396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.05, Y:-36.06, Z:-7.02 [[ 9.87189660e-01 1.59550771e-01 3.55209495e-04 2.93048601e+02] [-1.59550760e-01 9.87189724e-01 -5.85797420e-05 -3.60620107e+01] [-3.60005606e-04 1.15537063e-06 9.99999935e-01 -7.02208934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.08, Y:-36.07, Z:-7.02 [[ 9.87362907e-01 1.58474711e-01 5.06370119e-04 2.93075006e+02] [-1.58474690e-01 9.87363037e-01 -8.09740626e-05 -3.60670009e+01] [-5.12803480e-04 -2.96062005e-07 9.99999869e-01 -7.02289320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.10, Y:-36.07, Z:-7.02 [[ 9.87453686e-01 1.57899014e-01 1.76620163e-03 2.93101174e+02] [-1.57898770e-01 9.87455266e-01 -2.77328723e-04 -3.60724435e+01] [-1.78783503e-03 -5.03179537e-06 9.99998402e-01 -7.02300129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.13, Y:-36.07, Z:-7.03 [[ 9.87366530e-01 1.58409030e-01 3.73010625e-03 2.93128670e+02] [-1.58407958e-01 9.87373576e-01 -5.83022472e-04 -3.60744321e+01] [-3.77536437e-03 -1.52216383e-05 9.99992873e-01 -7.02581005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.16, Y:-36.08, Z:-7.02 [[ 9.87258573e-01 1.59087308e-01 3.42626194e-03 2.93155011e+02] [-1.59086407e-01 9.87264518e-01 -5.35648205e-04 -3.60781370e+01] [-3.46784167e-03 -1.62484181e-05 9.99993987e-01 -7.02337487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:-36.08, Z:-7.02 [[ 9.87137862e-01 1.59837354e-01 3.29584483e-03 2.93182093e+02] [-1.59836525e-01 9.87143363e-01 -5.15022334e-04 -3.60816971e+01] [-3.33579116e-03 -1.83983405e-05 9.99994436e-01 -7.02426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:-36.08, Z:-7.02 [[ 9.86916068e-01 1.61209372e-01 2.86570513e-03 2.93209672e+02] [-1.61208752e-01 9.86920229e-01 -4.47590563e-04 -3.60838716e+01] [-2.90037816e-03 -2.02424288e-05 9.99995794e-01 -7.02493475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.24, Y:-36.09, Z:-7.03 [[ 9.86844673e-01 1.61621386e-01 4.01494431e-03 2.93236036e+02] [-1.61620175e-01 9.86852839e-01 -6.26335174e-04 -3.60863673e+01] [-4.06338835e-03 -3.08004712e-05 9.99991744e-01 -7.02798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:-36.09, Z:-7.03 [[ 9.86872494e-01 1.61438781e-01 4.49450372e-03 2.93264214e+02] [-1.61437266e-01 9.86882728e-01 -7.00346715e-04 -3.60886804e+01] [-4.54861121e-03 -3.44274804e-05 9.99989654e-01 -7.02523670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.29, Y:-36.09, Z:-7.03 [[ 9.86931541e-01 1.61061978e-01 5.01721901e-03 2.93291333e+02] [-1.61060087e-01 9.86944293e-01 -7.81427378e-04 -3.60917848e+01] [-5.07757391e-03 -3.68584022e-05 9.99987108e-01 -7.02605728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:-36.09, Z:-7.03 [[ 9.87060384e-01 1.60285587e-01 4.50872802e-03 2.93319432e+02] [-1.60284054e-01 9.87070681e-01 -7.01724850e-04 -3.60937276e+01] [-4.56290962e-03 -3.00324044e-05 9.99989589e-01 -7.02648639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.35, Y:-36.10, Z:-7.03 [[ 9.87154120e-01 1.59726363e-01 3.77272387e-03 2.93347362e+02] [-1.59725285e-01 9.87161329e-01 -5.87208142e-04 -3.60968594e+01] [-3.81807973e-03 -2.29344585e-05 9.99992711e-01 -7.02671653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:-36.10, Z:-7.03 [[ 9.87270503e-01 1.59017071e-01 3.24417908e-03 2.93375654e+02] [-1.59016271e-01 9.87275833e-01 -5.04953763e-04 -3.61002447e+01] [-3.28319587e-03 -1.73513020e-05 9.99994610e-01 -7.02738219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.40, Y:-36.10, Z:-7.03 [[ 9.87551193e-01 1.57266514e-01 3.14415182e-03 2.93403259e+02] [-1.57265754e-01 9.87556198e-01 -4.89199575e-04 -3.61023229e+01] [-3.18196133e-03 -1.13577823e-05 9.99994937e-01 -7.02988862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.43, Y:-36.10, Z:-7.03 [[ 9.87863813e-01 1.55290328e-01 3.16247258e-03 2.93430284e+02] [-1.55289549e-01 9.87868875e-01 -4.92035772e-04 -3.61046207e+01] [-3.20051662e-03 -5.03460522e-06 9.99994878e-01 -7.02840712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-36.11, Z:-7.03 [[ 9.88082364e-01 1.53890342e-01 3.31724012e-03 2.93457740e+02] [-1.53889478e-01 9.88087933e-01 -5.15465066e-04 -3.61079303e+01] [-3.35705003e-03 -1.16641138e-06 9.99994365e-01 -7.02881911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384203822 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:293.48, Y:-36.11, Z:-7.03 [[ 9.88337685e-01 1.52211479e-01 4.50400586e-03 2.93484671e+02] [-1.52209873e-01 9.88347948e-01 -6.99159329e-04 -3.61113304e+01] [-4.55794502e-03 5.45135435e-06 9.99989612e-01 -7.03220406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.51, Y:-36.12, Z:-7.03 [[ 9.88978321e-01 1.47929153e-01 6.23264389e-03 2.93511852e+02] [-1.47926002e-01 9.88997960e-01 -9.66005597e-04 -3.61172432e+01] [-6.30697248e-03 3.33884981e-05 9.99980110e-01 -7.02934677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.54, Y:-36.12, Z:-7.03 [[ 9.89344446e-01 1.45437880e-01 6.73719119e-03 2.93539114e+02] [-1.45434146e-01 9.89367384e-01 -1.04360750e-03 -3.61225046e+01] [-6.81733729e-03 5.26696348e-05 9.99976760e-01 -7.02988279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-36.13, Z:-7.03 [[ 9.90182375e-01 1.39594283e-01 7.23190845e-03 2.93565678e+02] [-1.39589827e-01 9.90208779e-01 -1.11975570e-03 -3.61296010e+01] [-7.31741073e-03 9.92615070e-05 9.99973222e-01 -7.03019440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.59, Y:-36.14, Z:-7.03 [[ 9.90603939e-01 1.36546131e-01 7.68056903e-03 2.93593002e+02] [-1.36541021e-01 9.90633705e-01 -1.18823864e-03 -3.61359310e+01] [-7.77087994e-03 1.28361140e-04 9.99969798e-01 -7.03061266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.62, Y:-36.14, Z:-7.03 [[ 9.91309344e-01 1.31365078e-01 7.00006013e-03 2.93619320e+02] [-1.31360705e-01 9.91334047e-01 -1.08277508e-03 -3.61433927e+01] [-7.08163677e-03 1.53832221e-04 9.99974913e-01 -7.03143346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.65, Y:-36.15, Z:-7.04 [[ 9.91583204e-01 1.29339758e-01 5.82893051e-03 2.93646380e+02] [-1.29336693e-01 9.91600327e-01 -9.01240412e-04 -3.61497533e+01] [-5.89653562e-03 1.39760257e-04 9.99982606e-01 -7.03515832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.67, Y:-36.16, Z:-7.04 [[ 9.91793468e-01 1.27748918e-01 5.09229519e-03 2.93672891e+02] [-1.27746558e-01 9.91806532e-01 -7.87391611e-04 -3.61577353e+01] [-5.15116005e-03 1.30406674e-04 9.99986724e-01 -7.03508867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.70, Y:-36.17, Z:-7.03 [[ 9.91866597e-01 1.27188204e-01 4.88005881e-03 2.93699417e+02] [-1.27186033e-01 9.91878594e-01 -7.53936424e-04 -3.61675222e+01] [-4.93631769e-03 1.27129036e-04 9.99987808e-01 -7.03349011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-36.18, Z:-7.03 [[ 9.91657181e-01 1.28850457e-01 3.68713471e-03 2.93726572e+02] [-1.28849228e-01 9.91664032e-01 -5.69833331e-04 -3.61756395e+01] [-3.72982216e-03 8.99948525e-05 9.99993040e-01 -7.03396699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68420382200003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:293.75, Y:-36.18, Z:-7.04 [[ 9.91454846e-01 1.30387607e-01 4.04490263e-03 2.93753467e+02] [-1.30386143e-01 9.91463092e-01 -6.24675510e-04 -3.61829466e+01] [-4.09182161e-03 9.19383077e-05 9.99991624e-01 -7.03730959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71420382200006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.78, Y:-36.19, Z:-7.04 [[ 9.91216016e-01 1.32159691e-01 4.96235991e-03 2.93780765e+02] [-1.32157514e-01 9.91228433e-01 -7.65621644e-04 -3.61918131e+01] [-5.02001655e-03 1.03083288e-04 9.99987394e-01 -7.03794602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74420382200003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:293.81, Y:-36.20, Z:-7.04 [[ 9.91224044e-01 1.32099462e-01 4.96244849e-03 2.93808937e+02] [-1.32097287e-01 9.91236461e-01 -7.65046454e-04 -3.61960245e+01] [-5.02002210e-03 1.02806458e-04 9.99987394e-01 -7.03860255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-36.21, Z:-7.04 [[ 9.90562778e-01 1.36964242e-01 5.11659460e-03 2.93835407e+02] [-1.36961995e-01 9.90575989e-01 -7.88711084e-04 -3.62083739e+01] [-5.17640097e-03 8.04888405e-05 9.99986599e-01 -7.03538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:-36.22, Z:-7.04 [[ 9.90201048e-01 1.39560359e-01 4.97895350e-03 2.93862583e+02] [-1.39558267e-01 9.90213564e-01 -7.66928275e-04 -3.62151516e+01] [-5.03726008e-03 6.45590612e-05 9.99987311e-01 -7.03566426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.89, Y:-36.23, Z:-7.04 [[ 9.89436335e-01 1.44863097e-01 5.51566258e-03 2.93888552e+02] [-1.44860612e-01 9.89451707e-01 -8.49439504e-04 -3.62262221e+01] [-5.58053420e-03 4.14640506e-05 9.99984428e-01 -7.03563625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:-36.23, Z:-7.04 [[ 9.89068119e-01 1.47344014e-01 5.83070032e-03 2.93915325e+02] [-1.47341287e-01 9.89085305e-01 -8.96984297e-04 -3.62344832e+01] [-5.89922527e-03 2.80756854e-05 9.99982599e-01 -7.03565673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.94, Y:-36.24, Z:-7.04 [[ 9.88251357e-01 1.52771089e-01 4.49998809e-03 2.93941542e+02] [-1.52769518e-01 9.88261602e-01 -6.92772505e-04 -3.62438892e+01] [-4.55300105e-03 -2.82764597e-06 9.99989635e-01 -7.03588288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92420382200004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:293.97, Y:-36.25, Z:-7.04 [[ 9.87806123e-01 1.55647815e-01 3.58074168e-03 2.93967608e+02] [-1.55646839e-01 9.87812613e-01 -5.51332981e-04 -3.62507044e+01] [-3.62291557e-03 -1.27210290e-05 9.99993437e-01 -7.04013000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.99, Y:-36.26, Z:-7.04 [[ 9.87381201e-01 1.58333597e-01 2.97247060e-03 2.93994776e+02] [-1.58332937e-01 9.87385675e-01 -4.57474690e-04 -3.62585453e+01] [-3.00740850e-03 -1.89380908e-05 9.99995478e-01 -7.03810108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:-36.27, Z:-7.04 [[ 9.86466729e-01 1.63925332e-01 3.44651004e-03 2.94021610e+02] [-1.63924481e-01 9.86472749e-01 -5.29956559e-04 -3.62681033e+01] [-3.48676154e-03 -4.21828559e-05 9.99993920e-01 -7.03903908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.05, Y:-36.27, Z:-7.04 [[ 9.85987755e-01 1.66781257e-01 3.48691486e-03 2.94049420e+02] [-1.66780405e-01 9.85993920e-01 -5.35893762e-04 -3.62734825e+01] [-3.52745388e-03 -5.31643848e-05 9.99993777e-01 -7.03953149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:-36.28, Z:-7.04 [[ 9.85004688e-01 1.72496693e-01 3.26420571e-03 2.94075892e+02] [-1.72495977e-01 9.85010094e-01 -5.01768322e-04 -3.62807011e+01] [-3.30182895e-03 -6.88182029e-05 9.99994547e-01 -7.04039019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:-36.29, Z:-7.04 [[ 9.84580017e-01 1.74902556e-01 3.35944802e-03 2.94103175e+02] [-1.74901814e-01 9.84585745e-01 -5.15811068e-04 -3.62874354e+01] [-3.39788131e-03 -7.97162814e-05 9.99994224e-01 -7.04149268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-36.29, Z:-7.04 [[ 9.84269209e-01 1.76645638e-01 3.23142568e-03 2.94129271e+02] [-1.76644960e-01 9.84274510e-01 -4.96212383e-04 -3.62924696e+01] [-3.26826369e-03 -8.24084914e-05 9.99994656e-01 -7.04158193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:-36.30, Z:-7.04 [[ 9.83867828e-01 1.78851082e-01 4.04824375e-03 2.94155804e+02] [-1.78850041e-01 9.83876150e-01 -6.20732523e-04 -3.62961843e+01] [-4.09398916e-03 -1.13309801e-04 9.99991613e-01 -7.04267911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:-36.30, Z:-7.04 [[ 9.83775908e-01 1.79368269e-01 3.46224905e-03 2.94182983e+02] [-1.79367512e-01 9.83781995e-01 -5.30699401e-04 -3.63021113e+01] [-3.50128891e-03 -9.89257108e-05 9.99993866e-01 -7.04376820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194203822 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.21, Y:-36.31, Z:-7.05 [[ 9.83835661e-01 1.79048869e-01 2.98237058e-03 2.94210756e+02] [-1.79048305e-01 9.83840178e-01 -4.57170921e-04 -3.63064120e+01] [-3.01603194e-03 -8.42073428e-05 9.99995448e-01 -7.04627278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:-36.31, Z:-7.04 [[ 9.83892831e-01 1.78738477e-01 2.73012268e-03 2.94237683e+02] [-1.78738002e-01 9.83896616e-01 -4.18681925e-04 -3.63105312e+01] [-2.76099303e-03 -7.60385290e-05 9.99996186e-01 -7.04479103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:-36.31, Z:-7.05 [[ 9.83948825e-01 1.78435251e-01 2.36027416e-03 2.94264002e+02] [-1.78434896e-01 9.83951654e-01 -3.61950552e-04 -3.63142545e+01] [-2.38698040e-03 -6.50144535e-05 9.99997149e-01 -7.04619825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.29, Y:-36.32, Z:-7.05 [[ 9.84176233e-01 1.77170189e-01 2.80471285e-03 2.94291738e+02] [-1.77169684e-01 9.84180227e-01 -4.29297938e-04 -3.63194078e+01] [-2.83640172e-03 -7.44052626e-05 9.99995975e-01 -7.04625305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.32, Y:-36.32, Z:-7.05 [[ 9.84516399e-01 1.75249558e-01 3.87986370e-03 2.94320064e+02] [-1.75248582e-01 9.84524039e-01 -5.92944395e-04 -3.63210115e+01] [-3.92373232e-03 -9.61771293e-05 9.99992298e-01 -7.04722844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.35, Y:-36.32, Z:-7.05 [[ 9.84792274e-01 1.73688266e-01 4.06985771e-03 2.94348015e+02] [-1.73687180e-01 9.84800679e-01 -6.21626261e-04 -3.63237765e+01] [-4.11596782e-03 -9.47093683e-05 9.99991525e-01 -7.04566706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:-36.33, Z:-7.05 [[ 9.85110898e-01 1.71867377e-01 4.25713679e-03 2.94375403e+02] [-1.71866172e-01 9.85120092e-01 -6.50051038e-04 -3.63263395e+01] [-4.30551355e-03 -9.12854412e-05 9.99990727e-01 -7.04688350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.40, Y:-36.33, Z:-7.05 [[ 9.85415158e-01 1.70120602e-01 3.99326798e-03 2.94403262e+02] [-1.70119529e-01 9.85423246e-01 -6.09317089e-04 -3.63292784e+01] [-4.03871648e-03 -7.89025717e-05 9.99991841e-01 -7.04941110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.43, Y:-36.33, Z:-7.05 [[ 9.86147846e-01 1.65806476e-01 4.54299148e-03 2.94430173e+02] [-1.65805043e-01 9.86158308e-01 -6.92838264e-04 -3.63318951e+01] [-4.59498586e-03 -7.00099349e-05 9.99989441e-01 -7.05008900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:-36.33, Z:-7.05 [[ 9.86689539e-01 1.62553212e-01 4.49510670e-03 2.94458017e+02] [-1.62551779e-01 9.86699777e-01 -6.84926082e-04 -3.63328156e+01] [-4.54665771e-03 -5.48781882e-05 9.99989662e-01 -7.04844808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.49, Y:-36.33, Z:-7.05 [[ 9.86903970e-01 1.61260054e-01 3.96852107e-03 2.94485267e+02] [-1.61258925e-01 9.86911948e-01 -6.04817144e-04 -3.63347829e+01] [-4.01411371e-03 -4.30630025e-05 9.99991942e-01 -7.04919857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.51, Y:-36.34, Z:-7.05 [[ 9.87049078e-01 1.60369141e-01 3.98192702e-03 2.94512898e+02] [-1.60368000e-01 9.87057109e-01 -6.06273844e-04 -3.63368933e+01] [-4.02761699e-03 -4.01516343e-05 9.99991888e-01 -7.04986418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.54, Y:-36.34, Z:-7.05 [[ 9.87284806e-01 1.58910254e-01 4.03016898e-03 2.94539921e+02] [-1.58909074e-01 9.87293031e-01 -6.13522274e-04 -3.63354907e+01] [-4.07645273e-03 -3.47091996e-05 9.99991691e-01 -7.05195570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.57, Y:-36.34, Z:-7.05 [[ 9.87430032e-01 1.57996708e-01 4.35566613e-03 2.94567599e+02] [-1.57995323e-01 9.87439638e-01 -6.62490270e-04 -3.63362837e+01] [-4.40562867e-03 -3.40120883e-05 9.99990295e-01 -7.05158837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.60, Y:-36.33, Z:-7.05 [[ 9.87665523e-01 1.56520098e-01 4.27483384e-03 2.94595163e+02] [-1.56518752e-01 9.87674773e-01 -6.49846074e-04 -3.63338413e+01] [-4.32385952e-03 -2.72610942e-05 9.99990652e-01 -7.05197460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.62, Y:-36.34, Z:-7.05 [[ 9.87874765e-01 1.55207561e-01 3.74996950e-03 2.94622873e+02] [-1.55206517e-01 9.87881882e-01 -5.69717744e-04 -3.63353157e+01] [-3.79295143e-03 -1.92099212e-05 9.99992807e-01 -7.05305575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:294.65, Y:-36.33, Z:-7.06 [[ 9.88376745e-01 1.52004126e-01 2.48123037e-03 2.94651307e+02] [-1.52003658e-01 9.88379859e-01 -3.77401673e-04 -3.63339173e+01] [-2.50976474e-03 -4.14105536e-06 9.99996851e-01 -7.05655286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:-36.34, Z:-7.05 [[ 9.88714680e-01 1.49792261e-01 2.35783192e-03 2.94679720e+02] [-1.49791832e-01 9.88717492e-01 -3.58533654e-04 -3.63350469e+01] [-2.38493523e-03 1.30352577e-06 9.99997156e-01 -7.05492875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.71, Y:-36.34, Z:-7.06 [[ 9.89056077e-01 1.47527012e-01 1.96408352e-03 2.94708397e+02] [-1.47526710e-01 9.89058027e-01 -2.98860324e-04 -3.63353011e+01] [-1.98668255e-03 5.83484011e-06 9.99998027e-01 -7.05531573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382200007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.74, Y:-36.33, Z:-7.06 [[ 9.89758424e-01 1.42729933e-01 2.53551599e-03 2.94736308e+02] [-1.42729414e-01 9.89761671e-01 -3.85348250e-04 -3.63315526e+01] [-2.56455727e-03 1.95089646e-05 9.99996711e-01 -7.05772038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.77, Y:-36.33, Z:-7.06 [[ 9.90611125e-01 1.36664546e-01 3.52165093e-03 2.94765015e+02] [-1.36663511e-01 9.90617383e-01 -5.33822515e-04 -3.63322209e+01] [-3.56156324e-03 4.75293400e-05 9.99993656e-01 -7.05719599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.79, Y:-36.34, Z:-7.06 [[ 9.91077796e-01 1.33235507e-01 3.61971289e-03 2.94792138e+02] [-1.33234391e-01 9.91084404e-01 -5.48593275e-04 -3.63358750e+01] [-3.66053309e-03 6.14283702e-05 9.99993298e-01 -7.05800771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:-36.34, Z:-7.06 [[ 9.91580405e-01 1.29461808e-01 2.81805971e-03 2.94819763e+02] [-1.29461117e-01 9.91584407e-01 -4.27021752e-04 -3.63402100e+01] [-2.84962708e-03 5.85972430e-05 9.99995938e-01 -7.05873832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.85, Y:-36.34, Z:-7.06 [[ 9.92541573e-01 1.21887585e-01 2.15451728e-03 2.94846992e+02] [-1.21887163e-01 9.92543910e-01 -3.26724548e-04 -3.63443719e+01] [-2.17827667e-03 6.16796993e-05 9.99997626e-01 -7.05979327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91420382200005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.87, Y:-36.35, Z:-7.06 [[ 9.92918230e-01 1.18779216e-01 2.21051118e-03 2.94874400e+02] [-1.18778765e-01 9.92920688e-01 -3.34742637e-04 -3.63477740e+01] [-2.23462275e-03 6.98102786e-05 9.99997501e-01 -7.06213386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:-36.35, Z:-7.06 [[ 9.93488710e-01 1.13907844e-01 2.27721911e-03 2.94902884e+02] [-1.13907353e-01 9.93491317e-01 -3.44406670e-04 -3.63515946e+01] [-2.30162803e-03 8.27721373e-05 9.99997348e-01 -7.05993523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.93, Y:-36.36, Z:-7.06 [[ 9.93637006e-01 1.12598077e-01 2.67833204e-03 2.94930359e+02] [-1.12597393e-01 9.93640610e-01 -4.05256635e-04 -3.63557874e+01] [-2.70693061e-03 1.01104782e-04 9.99996331e-01 -7.06011266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:-36.36, Z:-7.06 [[ 9.93669639e-01 1.12278542e-01 3.76540949e-03 2.94957389e+02] [-1.12277193e-01 9.93676763e-01 -5.68528455e-04 -3.63601498e+01] [-3.80543345e-03 1.42159858e-04 9.99992749e-01 -7.05995646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03420382200005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:294.98, Y:-36.37, Z:-7.06 [[ 9.93412558e-01 1.14519512e-01 4.09517723e-03 2.94984946e+02] [-1.14517936e-01 9.93420988e-01 -6.18161125e-04 -3.63659272e+01] [-4.13902653e-03 1.45117780e-04 9.99991424e-01 -7.06137650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.01, Y:-36.37, Z:-7.06 [[ 9.92775102e-01 1.19909083e-01 4.40559878e-03 2.95012133e+02] [-1.19907313e-01 9.92784868e-01 -6.64591649e-04 -3.63716177e+01] [-4.45350238e-03 1.31526528e-04 9.99990074e-01 -7.06029294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:-36.37, Z:-7.06 [[ 9.92274291e-01 1.23961523e-01 5.02706601e-03 2.95039974e+02] [-1.23959275e-01 9.92287017e-01 -7.57490400e-04 -3.63743116e+01] [-5.08219200e-03 1.28486789e-04 9.99987077e-01 -7.06038501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.07, Y:-36.38, Z:-7.06 [[ 9.91680884e-01 1.28631949e-01 4.77972489e-03 2.95067557e+02] [-1.28629971e-01 9.91692398e-01 -7.20206267e-04 -3.63758130e+01] [-4.83265837e-03 9.93989125e-05 9.99988318e-01 -7.06053427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.09, Y:-36.38, Z:-7.06 [[ 9.90368979e-01 1.38405222e-01 3.64418279e-03 2.95094835e+02] [-1.38404138e-01 9.90375683e-01 -5.49227581e-04 -3.63773883e+01] [-3.68512599e-03 3.95679805e-05 9.99993209e-01 -7.06340569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.12, Y:-36.38, Z:-7.06 [[ 9.89754876e-01 1.42708275e-01 4.43089461e-03 2.95121511e+02] [-1.42706714e-01 9.89764794e-01 -6.68103228e-04 -3.63830514e+01] [-4.48088735e-03 2.89400177e-05 9.99989960e-01 -7.06303257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.15, Y:-36.39, Z:-7.06 [[ 9.88778940e-01 1.49307397e-01 4.84858789e-03 2.95149268e+02] [-1.49305617e-01 9.88790828e-01 -7.28997093e-04 -3.63886654e+01] [-4.90308389e-03 -3.10443323e-06 9.99987980e-01 -7.06387634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:-36.39, Z:-7.06 [[ 9.88457642e-01 1.51421538e-01 4.79671740e-03 2.95176767e+02] [-1.51419821e-01 9.88469280e-01 -7.21161205e-04 -3.63922711e+01] [-4.85060713e-03 -1.34807881e-05 9.99988236e-01 -7.06419882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.20, Y:-36.39, Z:-7.06 [[ 9.88137771e-01 1.53503841e-01 4.50740783e-03 2.95203383e+02] [-1.53502347e-01 9.88148051e-01 -6.77646586e-04 -3.63946285e+01] [-4.55800762e-03 -2.22894957e-05 9.99989612e-01 -7.06477994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.23, Y:-36.40, Z:-7.07 [[ 9.88096518e-01 1.53777469e-01 4.21430821e-03 2.95231539e+02] [-1.53776168e-01 9.88105505e-01 -6.33101004e-04 -3.63985492e+01] [-4.26153781e-03 -2.24952676e-05 9.99990919e-01 -7.06589125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:-36.40, Z:-7.07 [[ 9.88147856e-01 1.53461025e-01 3.67799474e-03 2.95259351e+02] [-1.53460032e-01 9.88154701e-01 -5.52502685e-04 -3.64036424e+01] [-3.71921542e-03 -1.84708461e-05 9.99993084e-01 -7.06693702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.29, Y:-36.41, Z:-7.07 [[ 9.88560394e-01 1.50782266e-01 3.61312427e-03 2.95285578e+02] [-1.50781290e-01 9.88566997e-01 -5.42743618e-04 -3.64118066e+01] [-3.65365153e-03 -8.25669289e-06 9.99993325e-01 -7.06793439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39420382200007 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:295.31, Y:-36.42, Z:-7.07 [[ 9.88782915e-01 1.49319803e-01 3.45581824e-03 2.95313265e+02] [-1.49318903e-01 9.88788954e-01 -5.18647952e-04 -3.64176395e+01] [-3.49451932e-03 -3.18875350e-06 9.99993894e-01 -7.07037412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:-36.42, Z:-7.07 [[ 9.89085248e-01 1.47289130e-01 4.03548795e-03 2.95339784e+02] [-1.47287886e-01 9.89093480e-01 -6.05275749e-04 -3.64244335e+01] [-4.08062535e-03 4.29082466e-06 9.99991674e-01 -7.06803799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:-36.43, Z:-7.07 [[ 9.89119016e-01 1.47048454e-01 4.50817978e-03 2.95367435e+02] [-1.47046904e-01 9.89129290e-01 -6.75252497e-04 -3.64302428e+01] [-4.55846750e-03 4.99120709e-06 9.99989610e-01 -7.06826757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.39, Y:-36.44, Z:-7.07 [[ 9.89047103e-01 1.47507222e-01 5.23907456e-03 2.95394944e+02] [-1.47505138e-01 9.89060979e-01 -7.84095104e-04 -3.64360115e+01] [-5.29742391e-03 2.71657444e-06 9.99985969e-01 -7.06798696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:-36.44, Z:-7.07 [[ 9.88611128e-01 1.50327274e-01 7.05324454e-03 2.95422899e+02] [-1.50323576e-01 9.88636288e-01 -1.05449450e-03 -3.64416092e+01] [-7.13161279e-03 -1.77839474e-05 9.99974570e-01 -7.06822102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.45, Y:-36.45, Z:-7.07 [[ 9.88241379e-01 1.52737246e-01 7.09301092e-03 2.95451099e+02] [-1.52733572e-01 9.88266833e-01 -1.05991268e-03 -3.64454378e+01] [-7.17167558e-03 -3.58913313e-05 9.99974283e-01 -7.06883000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:-36.45, Z:-7.07 [[ 9.87422261e-01 1.57955846e-01 6.87237189e-03 2.95477580e+02] [-1.57952526e-01 9.87446173e-01 -1.02667293e-03 -3.64493917e+01] [-6.94826632e-03 -7.17487973e-05 9.99975858e-01 -7.07062084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60420382200004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:295.50, Y:-36.45, Z:-7.07 [[ 9.87021461e-01 1.60475454e-01 6.02201871e-03 2.95504817e+02] [-1.60472954e-01 9.87039828e-01 -8.99188863e-04 -3.64528378e+01] [-6.08827005e-03 -7.88524266e-05 9.99981463e-01 -7.07324467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6342038220001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.53, Y:-36.45, Z:-7.07 [[ 9.86306288e-01 1.64839777e-01 5.26816180e-03 2.95532280e+02] [-1.64837926e-01 9.86320353e-01 -7.86658886e-04 -3.64543273e+01] [-5.32576789e-03 -9.25062600e-05 9.99985814e-01 -7.07411878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:295.56, Y:-36.46, Z:-7.07 [[ 9.86316512e-01 1.64778591e-01 5.26829464e-03 2.95560473e+02] [-1.64776744e-01 9.86330577e-01 -7.85767217e-04 -3.64583972e+01] [-5.32575771e-03 -9.30772560e-05 9.99985814e-01 -7.07477533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:-36.46, Z:-7.07 [[ 9.86048967e-01 1.66370986e-01 5.30377092e-03 2.95588645e+02] [-1.66369137e-01 9.86063225e-01 -7.90956047e-04 -3.64614004e+01] [-5.36144560e-03 -1.02462399e-04 9.99985622e-01 -7.07376228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.62, Y:-36.46, Z:-7.07 [[ 9.85658443e-01 1.68698105e-01 4.28753290e-03 2.95615367e+02] [-1.68696918e-01 9.85667764e-01 -6.39634298e-04 -3.64633308e+01] [-4.33398806e-03 -9.28326397e-05 9.99990604e-01 -7.07469859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.64, Y:-36.47, Z:-7.08 [[ 9.85582644e-01 1.69152824e-01 3.76472869e-03 2.95643235e+02] [-1.69151914e-01 9.85589831e-01 -5.61239330e-04 -3.64652184e+01] [-3.80541353e-03 -8.36633187e-05 9.99992756e-01 -7.07514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.67, Y:-36.47, Z:-7.08 [[ 9.85576751e-01 1.69189490e-01 3.65833273e-03 2.95670857e+02] [-1.69188631e-01 9.85583538e-01 -5.45211919e-04 -3.64667080e+01] [-3.69783664e-03 -8.16001166e-05 9.99993160e-01 -7.07580810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.70, Y:-36.47, Z:-7.08 [[ 9.85725572e-01 1.68337273e-01 2.76737950e-03 2.95699144e+02] [-1.68336777e-01 9.85729455e-01 -4.12639292e-04 -3.64667697e+01] [-2.79735006e-03 -5.91026449e-05 9.99996086e-01 -7.07716656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.73, Y:-36.47, Z:-7.08 [[ 9.85839617e-01 1.67679998e-01 1.91528017e-03 2.95726665e+02] [-1.67679759e-01 9.85841476e-01 -2.85961104e-04 -3.64696578e+01] [-1.93611258e-03 -3.92419309e-05 9.99998125e-01 -7.07826564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.75, Y:-36.47, Z:-7.08 [[ 9.86275953e-01 1.65097269e-01 1.62387457e-03 2.95754657e+02] [-1.65097093e-01 9.86277289e-01 -2.42599017e-04 -3.64716603e+01] [-1.64164304e-03 -2.88273933e-05 9.99998652e-01 -7.07992756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.78, Y:-36.47, Z:-7.08 [[ 9.86550097e-01 1.63453075e-01 1.41378801e-03 2.95781540e+02] [-1.63452939e-01 9.86551110e-01 -2.11587567e-04 -3.64743722e+01] [-1.42935877e-03 -2.23460708e-05 9.99998978e-01 -7.08084041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.81, Y:-36.48, Z:-7.08 [[ 9.86854406e-01 1.61610062e-01 7.54585877e-04 2.95808883e+02] [-1.61610023e-01 9.86854694e-01 -1.13778306e-04 -3.64767184e+01] [-7.63054335e-04 -9.66601774e-06 9.99999709e-01 -7.08158436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:-36.48, Z:-7.08 [[ 9.87570765e-01 1.57171613e-01 1.03385772e-03 2.95836970e+02] [-1.57171537e-01 9.87571306e-01 -1.54796996e-04 -3.64782452e+01] [-1.04533791e-03 -9.62001844e-06 9.99999454e-01 -7.08236724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.87, Y:-36.48, Z:-7.08 [[ 9.87950557e-01 1.54759549e-01 1.78308694e-03 2.95865073e+02] [-1.54759322e-01 9.87952166e-01 -2.65626958e-04 -3.64815216e+01] [-1.80271291e-03 -1.35230237e-05 9.99998375e-01 -7.08302266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:295.89, Y:-36.48, Z:-7.08 [[ 9.88589314e-01 1.50627804e-01 1.55997681e-03 2.95892964e+02] [-1.50627624e-01 9.88590545e-01 -2.32478232e-04 -3.64831136e+01] [-1.57719601e-03 -5.15010516e-06 9.99998756e-01 -7.08441635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:-36.49, Z:-7.08 [[ 9.88950754e-01 1.48208193e-01 3.27687237e-03 2.95920452e+02] [-1.48207395e-01 9.88956183e-01 -4.86235316e-04 -3.64874295e+01] [-3.31274725e-03 -4.79393456e-06 9.99994513e-01 -7.08349853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.95, Y:-36.49, Z:-7.08 [[ 9.89617789e-01 1.43635674e-01 5.04227278e-03 2.95946556e+02] [-1.43633732e-01 9.89630635e-01 -7.47094853e-04 -3.64934525e+01] [-5.09729708e-03 1.50979017e-05 9.99987009e-01 -7.08381663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.97, Y:-36.50, Z:-7.08 [[ 9.89858210e-01 1.41977428e-01 4.80967912e-03 2.95974471e+02] [-1.41975644e-01 9.89869895e-01 -7.12074243e-04 -3.64978369e+01] [-4.86205504e-03 2.19952436e-05 9.99988180e-01 -7.08401404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:-36.50, Z:-7.08 [[ 9.90043426e-01 1.40684334e-01 4.68332953e-03 2.96002344e+02] [-1.40682629e-01 9.90054502e-01 -6.93068069e-04 -3.65022431e+01] [-4.73425531e-03 2.73043733e-05 9.99988793e-01 -7.08459508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:-36.51, Z:-7.09 [[ 9.90281065e-01 1.39010282e-01 4.42209418e-03 2.96029822e+02] [-1.39008746e-01 9.90290937e-01 -6.54175125e-04 -3.65080462e+01] [-4.47009685e-03 3.31074721e-05 9.99990009e-01 -7.08564836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.06, Y:-36.51, Z:-7.09 [[ 9.90337938e-01 1.38633135e-01 3.40909725e-03 2.96056959e+02] [-1.38632219e-01 9.90343806e-01 -5.04449079e-04 -3.65137317e+01] [-3.44611170e-03 2.69643424e-05 9.99994062e-01 -7.08656928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.08, Y:-36.52, Z:-7.09 [[ 9.90381720e-01 1.38327887e-01 3.07312194e-03 2.96083918e+02] [-1.38327142e-01 9.90386488e-01 -4.54687656e-04 -3.65194854e+01] [-3.10647443e-03 2.52181663e-05 9.99995175e-01 -7.08768084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:-36.52, Z:-7.09 [[ 9.90453861e-01 1.37811733e-01 3.01266675e-03 2.96111249e+02] [-1.37811015e-01 9.90458442e-01 -4.45549547e-04 -3.65249526e+01] [-3.04532317e-03 2.61176071e-05 9.99995363e-01 -7.08810050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.14, Y:-36.53, Z:-7.09 [[ 9.90538532e-01 1.37180489e-01 3.86390341e-03 2.96137430e+02] [-1.37179306e-01 9.90546068e-01 -5.70895523e-04 -3.65305634e+01] [-3.90569005e-03 3.54464253e-05 9.99992372e-01 -7.08816943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.16, Y:-36.54, Z:-7.09 [[ 9.90524792e-01 1.37279175e-01 3.88139109e-03 2.96164201e+02] [-1.37277984e-01 9.90532396e-01 -5.73109250e-04 -3.65356890e+01] [-3.92331958e-03 3.48493780e-05 9.99992303e-01 -7.08876599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35420382200004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:296.19, Y:-36.54, Z:-7.09 [[ 9.90133452e-01 1.40088401e-01 3.31472048e-03 2.96191114e+02] [-1.40087549e-01 9.90139000e-01 -4.89199619e-04 -3.65413515e+01] [-3.35056521e-03 2.00218412e-05 9.99994387e-01 -7.09122629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:-36.55, Z:-7.09 [[ 9.89752046e-01 1.42763961e-01 3.05578243e-03 2.96218528e+02] [-1.42763250e-01 9.89756764e-01 -4.50891413e-04 -3.65450880e+01] [-3.08885237e-03 1.00172693e-05 9.99995229e-01 -7.08988454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.25, Y:-36.55, Z:-7.09 [[ 9.89251351e-01 1.46213004e-01 1.87661009e-03 2.96245867e+02] [-1.46212741e-01 9.89253131e-01 -2.77422047e-04 -3.65478556e+01] [-1.89700512e-03 5.58301094e-08 9.99998201e-01 -7.09240133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444203822 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:296.27, Y:-36.55, Z:-7.09 [[ 9.88203642e-01 1.53135916e-01 1.71835664e-03 2.96273860e+02] [-1.53135705e-01 9.88205136e-01 -2.54053282e-04 -3.65503863e+01] [-1.73699354e-03 -1.20853774e-05 9.99998491e-01 -7.09365977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:-36.55, Z:-7.09 [[ 9.87417867e-01 1.58093435e-01 3.52450274e-03 2.96300733e+02] [-1.58092588e-01 9.87424156e-01 -5.19259317e-04 -3.65521191e+01] [-3.56227063e-03 -4.44718327e-05 9.99993654e-01 -7.09205379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:-36.56, Z:-7.09 [[ 9.87203970e-01 1.59423812e-01 3.51712384e-03 2.96328858e+02] [-1.59422979e-01 9.87210234e-01 -5.17646501e-04 -3.65558366e+01] [-3.55466583e-03 -4.96876795e-05 9.99993681e-01 -7.09278237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.36, Y:-36.56, Z:-7.09 [[ 9.87112798e-01 1.59986776e-01 3.54346675e-03 2.96355516e+02] [-1.59985935e-01 9.87119156e-01 -5.21482976e-04 -3.65587496e+01] [-3.58125429e-03 -5.21423211e-05 9.99993586e-01 -7.09323735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.38, Y:-36.56, Z:-7.09 [[ 9.87188339e-01 1.59492820e-01 4.60692986e-03 2.96382466e+02] [-1.59491394e-01 9.87199086e-01 -6.77816187e-04 -3.65584654e+01] [-4.65606376e-03 -6.56334275e-05 9.99989158e-01 -7.09497801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:-36.56, Z:-7.10 [[ 9.87682757e-01 1.56386364e-01 5.10655208e-03 2.96410100e+02] [-1.56384580e-01 9.87695956e-01 -7.49255307e-04 -3.65632996e+01] [-5.16089416e-03 -5.85594579e-05 9.99986681e-01 -7.09518152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.44, Y:-36.57, Z:-7.10 [[ 9.88014246e-01 1.54264750e-01 5.49871111e-03 2.96437002e+02] [-1.54262646e-01 9.88029546e-01 -8.07183518e-04 -3.65677422e+01] [-5.55740901e-03 -5.07369123e-05 9.99984556e-01 -7.09599347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.46, Y:-36.57, Z:-7.10 [[ 9.88351102e-01 1.52079904e-01 5.81401143e-03 2.96463744e+02] [-1.52077524e-01 9.88368201e-01 -8.51781591e-04 -3.65714267e+01] [-5.87592289e-03 -4.23211913e-05 9.99982736e-01 -7.09667653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:-36.57, Z:-7.10 [[ 9.89055790e-01 1.47452812e-01 5.12959524e-03 2.96491943e+02] [-1.47450900e-01 9.89069092e-01 -7.51053645e-04 -3.65740589e+01] [-5.18426908e-03 -1.35294769e-05 9.99986561e-01 -7.09708861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.52, Y:-36.58, Z:-7.10 [[ 9.89359132e-01 1.45402490e-01 5.15981437e-03 2.96520101e+02] [-1.45400529e-01 9.89372587e-01 -7.55110271e-04 -3.65781438e+01] [-5.21477380e-03 -3.16449790e-06 9.99986403e-01 -7.09800935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.55, Y:-36.58, Z:-7.10 [[ 9.89604996e-01 1.43734783e-01 4.71852564e-03 2.96547979e+02] [-1.43733125e-01 9.89616245e-01 -6.90346473e-04 -3.65818466e+01] [-4.76875643e-03 4.96188308e-06 9.99988629e-01 -7.10036428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.57, Y:-36.59, Z:-7.10 [[ 9.89861448e-01 1.42012721e-01 2.58847513e-03 2.96574342e+02] [-1.42012214e-01 9.89864833e-01 -3.79511287e-04 -3.65853386e+01] [-2.61613594e-03 8.06850644e-06 9.99996578e-01 -7.10149265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.60, Y:-36.59, Z:-7.10 [[ 9.89972765e-01 1.41250635e-01 1.47732176e-03 2.96601598e+02] [-1.41250469e-01 9.89973867e-01 -2.17067370e-04 -3.65899473e+01] [-1.49317084e-03 6.21839385e-06 9.99998885e-01 -7.10142361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:-36.59, Z:-7.10 [[ 9.89997438e-01 1.41076247e-01 1.60177916e-03 2.96627770e+02] [-1.41076050e-01 9.89998734e-01 -2.35349005e-04 -3.65945679e+01] [-1.61896149e-03 7.02223455e-06 9.99998689e-01 -7.10284046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:296.66, Y:-36.60, Z:-7.10 [[ 9.90034377e-01 1.40817889e-01 1.50154656e-03 2.96655108e+02] [-1.40817717e-01 9.90035516e-01 -2.20354343e-04 -3.65989238e+01] [-1.51761426e-03 6.71401546e-06 9.99998848e-01 -7.10494442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.68, Y:-36.60, Z:-7.10 [[ 9.90237351e-01 1.39363046e-01 2.81605595e-03 2.96681697e+02] [-1.39362438e-01 9.90241355e-01 -4.11820318e-04 -3.66035654e+01] [-2.84596759e-03 1.53474389e-05 9.99995950e-01 -7.10269024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:-36.61, Z:-7.10 [[ 9.90365296e-01 1.38411444e-01 4.34185525e-03 2.96708930e+02] [-1.38409998e-01 9.90374814e-01 -6.33299711e-04 -3.66085321e+01] [-4.38772001e-03 2.62418811e-05 9.99990374e-01 -7.10301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.74, Y:-36.62, Z:-7.10 [[ 9.90620249e-01 1.36470461e-01 6.88004772e-03 2.96736030e+02] [-1.36466793e-01 9.90644139e-01 -1.00202858e-03 -3.66160691e+01] [-6.95242625e-03 5.37317521e-05 9.99975830e-01 -7.10299947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:296.76, Y:-36.62, Z:-7.11 [[ 9.90728686e-01 1.35710557e-01 6.27024017e-03 2.96763291e+02] [-1.35707497e-01 9.90748526e-01 -9.12900619e-04 -3.66206656e+01] [-6.33612146e-03 5.35182324e-05 9.99979925e-01 -7.10525029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:-36.63, Z:-7.10 [[ 9.90786746e-01 1.35312846e-01 5.66190375e-03 2.96790290e+02] [-1.35310346e-01 9.90802923e-01 -8.24079019e-04 -3.66269228e+01] [-5.72133926e-03 5.03724167e-05 9.99983632e-01 -7.10466948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.82, Y:-36.63, Z:-7.11 [[ 9.90735108e-01 1.35695362e-01 5.54211527e-03 2.96818104e+02] [-1.35692974e-01 9.90750608e-01 -8.06286590e-04 -3.66329840e+01] [-5.60026343e-03 4.67903254e-05 9.99984317e-01 -7.10532751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0742038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:296.84, Y:-36.64, Z:-7.11 [[ 9.90576521e-01 1.36864338e-01 5.12932416e-03 2.96844728e+02] [-1.36862309e-01 9.90589800e-01 -7.46189635e-04 -3.66385650e+01] [-5.18318294e-03 3.71467842e-05 9.99986567e-01 -7.10711555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:-36.64, Z:-7.11 [[ 9.89984541e-01 1.41122713e-01 3.87162439e-03 2.96872106e+02] [-1.41121589e-01 9.89992111e-01 -5.63135334e-04 -3.66446189e+01] [-3.91234879e-03 1.11254880e-05 9.99992347e-01 -7.10673474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.90, Y:-36.65, Z:-7.11 [[ 9.89562093e-01 1.44058504e-01 3.74311003e-03 2.96899075e+02] [-1.44057475e-01 9.89569173e-01 -5.44453572e-04 -3.66483571e+01] [-3.78249946e-03 -4.52363083e-07 9.99992846e-01 -7.10689669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:-36.65, Z:-7.11 [[ 9.88504209e-01 1.51152542e-01 3.51251088e-03 2.96927092e+02] [-1.51151682e-01 9.88510449e-01 -5.10489563e-04 -3.66516392e+01] [-3.54931551e-03 -2.63008476e-05 9.99993701e-01 -7.10685360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:-36.66, Z:-7.11 [[ 9.88016897e-01 1.54306233e-01 3.49251441e-03 2.96954334e+02] [-1.54305403e-01 9.88023069e-01 -5.07354980e-04 -3.66555485e+01] [-3.52897284e-03 -3.76385505e-05 9.99993772e-01 -7.10776606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.98, Y:-36.66, Z:-7.11 [[ 9.87240293e-01 1.59166378e-01 4.76108144e-03 2.96981249e+02] [-1.59164896e-01 9.87251771e-01 -6.90904265e-04 -3.66604748e+01] [-4.81035481e-03 -7.57085041e-05 9.99988427e-01 -7.10761052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:-36.66, Z:-7.11 [[ 9.86983218e-01 1.60752875e-01 4.75823539e-03 2.97009200e+02] [-1.60751417e-01 9.86994684e-01 -6.89879061e-04 -3.66636517e+01] [-4.80725307e-03 -8.39940227e-05 9.99988442e-01 -7.10847928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.04, Y:-36.67, Z:-7.11 [[ 9.86792773e-01 1.61929923e-01 4.32693958e-03 2.97036123e+02] [-1.61928728e-01 9.86802257e-01 -6.27397530e-04 -3.66670112e+01] [-4.37142818e-03 -8.15444730e-05 9.99990442e-01 -7.10935486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.06, Y:-36.67, Z:-7.11 [[ 9.86704184e-01 1.62472976e-01 4.16965290e-03 2.97063802e+02] [-1.62471874e-01 9.86712990e-01 -6.04110786e-04 -3.66701429e+01] [-4.21240236e-03 -8.13726789e-05 9.99991124e-01 -7.11051657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:-36.67, Z:-7.11 [[ 9.86833945e-01 1.61671480e-01 4.59313112e-03 2.97091340e+02] [-1.61670136e-01 9.86844631e-01 -6.64943970e-04 -3.66731475e+01] [-4.64020926e-03 -8.63828516e-05 9.99989230e-01 -7.11136708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.12, Y:-36.68, Z:-7.11 [[ 9.87384400e-01 1.58300162e-01 3.62017143e-03 2.97118169e+02] [-1.58299303e-01 9.87391035e-01 -5.24403646e-04 -3.66767763e+01] [-3.65753800e-03 -5.52826345e-05 9.99993310e-01 -7.11267074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:-36.68, Z:-7.11 [[ 9.87748358e-01 1.56020134e-01 3.30140385e-03 2.97145323e+02] [-1.56019407e-01 9.87753874e-01 -4.77917418e-04 -3.66813238e+01] [-3.33553918e-03 -4.30209267e-05 9.99994436e-01 -7.11320635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43420382200003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:297.17, Y:-36.69, Z:-7.12 [[ 9.88158098e-01 1.53401768e-01 3.38693970e-03 2.97172676e+02] [-1.53400989e-01 9.88163902e-01 -4.90049762e-04 -3.66850284e+01] [-3.42202605e-03 -3.53132602e-05 9.99994144e-01 -7.11518363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:-36.69, Z:-7.11 [[ 9.88845457e-01 1.48881335e-01 4.36015312e-03 2.97199387e+02] [-1.48880004e-01 9.88855069e-01 -6.30234585e-04 -3.66890367e+01] [-4.40538968e-03 -2.59350073e-05 9.99990296e-01 -7.11375432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.23, Y:-36.69, Z:-7.11 [[ 9.89151835e-01 1.46850944e-01 3.66716720e-03 2.97227455e+02] [-1.46849989e-01 9.89158632e-01 -5.29769350e-04 -3.66927201e+01] [-3.70520722e-03 -1.45011400e-05 9.99993136e-01 -7.11474895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.25, Y:-36.70, Z:-7.12 [[ 9.89502999e-01 1.44462146e-01 3.80828518e-03 2.97254085e+02] [-1.44461099e-01 9.89510328e-01 -5.50031355e-04 -3.66966882e+01] [-3.84779623e-03 -5.89138556e-06 9.99992597e-01 -7.11580016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:-36.70, Z:-7.12 [[ 9.89511405e-01 1.44404558e-01 3.80840680e-03 2.97282298e+02] [-1.44403513e-01 9.89518733e-01 -5.49186506e-04 -3.67006157e+01] [-3.84779490e-03 -6.52101082e-06 9.99992597e-01 -7.11645671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:297.31, Y:-36.70, Z:-7.12 [[ 9.89615730e-01 1.43696681e-01 3.45979643e-03 2.97310036e+02] [-1.43695814e-01 9.89621778e-01 -4.99171780e-04 -3.67044275e+01] [-3.49561922e-03 -3.17001941e-06 9.99993890e-01 -7.11820798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:-36.71, Z:-7.12 [[ 9.89649481e-01 1.43456009e-01 3.77867780e-03 2.97336331e+02] [-1.43454971e-01 9.89656695e-01 -5.45535825e-04 -3.67086797e+01] [-3.81785418e-03 -2.18086971e-06 9.99992712e-01 -7.11775770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:-36.71, Z:-7.12 [[ 9.89642159e-01 1.43517940e-01 3.31618513e-03 2.97363771e+02] [-1.43517145e-01 9.89647715e-01 -4.77788174e-04 -3.67116615e+01] [-3.35042621e-03 -3.09010276e-06 9.99994387e-01 -7.11791406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67420382200004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:297.39, Y:-36.71, Z:-7.12 [[ 9.89698576e-01 1.43113983e-01 3.88811979e-03 2.97391188e+02] [-1.43112889e-01 9.89706213e-01 -5.59668871e-04 -3.67146242e+01] [-3.92819276e-03 -2.53657121e-06 9.99992285e-01 -7.12019046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:-36.72, Z:-7.12 [[ 9.89680986e-01 1.43217521e-01 4.50414909e-03 2.97417703e+02] [-1.43216056e-01 9.89691235e-01 -6.47953529e-04 -3.67175350e+01] [-4.55051518e-03 -3.79917871e-06 9.99989646e-01 -7.11865047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:-36.72, Z:-7.12 [[ 9.89670871e-01 1.43305169e-01 3.89806217e-03 2.97445681e+02] [-1.43304073e-01 9.89678548e-01 -5.60457437e-04 -3.67198619e+01] [-3.93814496e-03 -3.93978517e-06 9.99992245e-01 -7.11875710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382200007 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:297.47, Y:-36.72, Z:-7.12 [[ 9.89687185e-01 1.43215478e-01 2.93317739e-03 2.97473795e+02] [-1.43214857e-01 9.89691531e-01 -4.21928785e-04 -3.67228826e+01] [-2.96336755e-03 -2.49706807e-06 9.99995609e-01 -7.12009486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.50, Y:-36.73, Z:-7.12 [[ 9.89654818e-01 1.43436900e-01 3.03258587e-03 2.97501498e+02] [-1.43436237e-01 9.89659465e-01 -4.35942526e-04 -3.67264638e+01] [-3.06375756e-03 -3.55008658e-06 9.99995307e-01 -7.12082191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8242038220001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:297.53, Y:-36.73, Z:-7.12 [[ 9.89608619e-01 1.43756325e-01 2.98345312e-03 2.97529831e+02] [-1.43755686e-01 9.89613116e-01 -4.28709545e-04 -3.67284063e+01] [-3.01409405e-03 -4.63368973e-06 9.99995458e-01 -7.12279523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:-36.73, Z:-7.12 [[ 9.89573977e-01 1.43967437e-01 4.08912657e-03 2.97557427e+02] [-1.43966241e-01 9.89582426e-01 -5.86868814e-04 -3.67275493e+01] [-4.13101779e-03 -7.94607527e-06 9.99991467e-01 -7.12180442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8842038220001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:297.58, Y:-36.73, Z:-7.12 [[ 9.89647034e-01 1.43479311e-01 3.52632856e-03 2.97584557e+02] [-1.43478419e-01 9.89653317e-01 -5.06005921e-04 -3.67286290e+01] [-3.56244413e-03 -5.18478731e-06 9.99993654e-01 -7.12360747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.61, Y:-36.73, Z:-7.12 [[ 9.89942819e-01 1.41410922e-01 4.02065474e-03 2.97612224e+02] [-1.41409748e-01 9.89950984e-01 -5.76087815e-04 -3.67308196e+01] [-4.06171623e-03 1.73422146e-06 9.99991751e-01 -7.12289403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:-36.73, Z:-7.12 [[ 9.90141166e-01 1.39978470e-01 5.14773209e-03 2.97639780e+02] [-1.39976531e-01 9.90154548e-01 -7.36747855e-04 -3.67348708e+01] [-5.20017918e-03 8.92269865e-06 9.99986479e-01 -7.12380601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.67, Y:-36.74, Z:-7.12 [[ 9.90498863e-01 1.37450360e-01 4.40456426e-03 2.97667981e+02] [-1.37448916e-01 9.90508656e-01 -6.30400505e-04 -3.67385961e+01] [-4.44940780e-03 1.90084005e-05 9.99990101e-01 -7.12443202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004203822 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:297.69, Y:-36.74, Z:-7.13 [[ 9.90611036e-01 1.36648932e-01 4.10418707e-03 2.97694848e+02] [-1.36647671e-01 9.90619538e-01 -5.87441064e-04 -3.67403380e+01] [-4.14596110e-03 2.10979952e-05 9.99991405e-01 -7.12672925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.72, Y:-36.74, Z:-7.13 [[ 9.90725132e-01 1.35801158e-01 4.66454855e-03 2.97721749e+02] [-1.35799523e-01 9.90736113e-01 -6.66924011e-04 -3.67403489e+01] [-4.71190575e-03 2.72949112e-05 9.99988899e-01 -7.12527469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:-36.74, Z:-7.13 [[ 9.90822769e-01 1.35078092e-01 4.91429937e-03 2.97748912e+02] [-1.35076271e-01 9.90834955e-01 -7.02052026e-04 -3.67426006e+01] [-4.96409144e-03 3.18038992e-05 9.99987678e-01 -7.12594618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.78, Y:-36.75, Z:-7.13 [[ 9.90931208e-01 1.34268705e-01 5.22067384e-03 2.97776663e+02] [-1.34266643e-01 9.90944960e-01 -7.45051945e-04 -3.67453610e+01] [-5.27343759e-03 3.73328737e-05 9.99986095e-01 -7.12661869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:297.80, Y:-36.75, Z:-7.13 [[ 9.90982274e-01 1.33890541e-01 5.23987499e-03 2.97804271e+02] [-1.33888461e-01 9.90996126e-01 -7.47458265e-04 -3.67486646e+01] [-5.29277340e-03 3.91590944e-05 9.99985992e-01 -7.12903766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:-36.75, Z:-7.13 [[ 9.90990236e-01 1.33813928e-01 5.67315305e-03 2.97831667e+02] [-1.33811491e-01 9.91006474e-01 -8.08708105e-04 -3.67525005e+01] [-5.73034781e-03 4.22887680e-05 9.99983581e-01 -7.12784215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:-36.75, Z:-7.13 [[ 9.91059573e-01 1.33314536e-01 5.30624619e-03 2.97858411e+02] [-1.33312398e-01 9.91073778e-01 -7.56331183e-04 -3.67541910e+01] [-5.35971140e-03 4.21808573e-05 9.99985636e-01 -7.12838976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:-36.76, Z:-7.13 [[ 9.91248817e-01 1.31908509e-01 5.09188357e-03 2.97885812e+02] [-1.31906520e-01 9.91261894e-01 -7.25928014e-04 -3.67557840e+01] [-5.14314623e-03 4.79226422e-05 9.99986773e-01 -7.12851241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.91, Y:-36.76, Z:-7.13 [[ 9.91436851e-01 1.30501637e-01 4.72154219e-03 2.97913642e+02] [-1.30499916e-01 9.91448093e-01 -6.71998497e-04 -3.67597978e+01] [-4.76886090e-03 5.00832141e-05 9.99988628e-01 -7.12944483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:-36.76, Z:-7.13 [[ 9.91681758e-01 1.28648555e-01 4.10365134e-03 2.97941153e+02] [-1.28647240e-01 9.91690247e-01 -5.83988561e-04 -3.67648004e+01] [-4.14468030e-03 5.12073833e-05 9.99991409e-01 -7.13029534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.97, Y:-36.77, Z:-7.13 [[ 9.92237888e-01 1.24268122e-01 4.62691521e-03 2.97967190e+02] [-1.24266404e-01 9.92248672e-01 -6.58118434e-04 -3.67726818e+01] [-4.67283361e-03 7.80399318e-05 9.99989079e-01 -7.13120981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.99, Y:-36.78, Z:-7.13 [[ 9.92736901e-01 1.20196940e-01 5.11282805e-03 2.97994444e+02] [-1.20194792e-01 9.92750061e-01 -7.26390937e-04 -3.67799950e+01] [-5.16307033e-03 1.06579784e-04 9.99986666e-01 -7.13128907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:-36.79, Z:-7.13 [[ 9.92910271e-01 1.18752913e-01 5.19041109e-03 2.98021993e+02] [-1.18750683e-01 9.92923830e-01 -7.36794852e-04 -3.67856979e+01] [-5.24117939e-03 1.15206315e-04 9.99986258e-01 -7.13133835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.05, Y:-36.79, Z:-7.13 [[ 9.93020645e-01 1.17810160e-01 5.54660934e-03 2.98050252e+02] [-1.17807603e-01 9.93036127e-01 -7.86705936e-04 -3.67927546e+01] [-5.60066541e-03 1.27782485e-04 9.99984308e-01 -7.13203193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:-36.80, Z:-7.13 [[ 9.92960243e-01 1.18311408e-01 5.68924025e-03 2.98076819e+02] [-1.18308725e-01 9.92976533e-01 -8.07099914e-04 -3.68039619e+01] [-5.74477118e-03 1.28331367e-04 9.99983490e-01 -7.13203761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:-36.81, Z:-7.13 [[ 9.92805011e-01 1.19633156e-01 5.11066954e-03 2.98103913e+02] [-1.19631010e-01 9.92818159e-01 -7.24590735e-04 -3.68106989e+01] [-5.16065060e-03 1.07982754e-04 9.99986678e-01 -7.13223171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48420382200004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.13, Y:-36.82, Z:-7.13 [[ 9.92217469e-01 1.24399294e-01 5.41387406e-03 2.98130222e+02] [-1.24396959e-01 9.92232235e-01 -7.67145086e-04 -3.68213718e+01] [-5.46725267e-03 8.77052829e-05 9.99985051e-01 -7.13443514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.16, Y:-36.83, Z:-7.13 [[ 9.91841611e-01 1.27353440e-01 5.59634591e-03 2.98156793e+02] [-1.27350995e-01 9.91857397e-01 -7.92595305e-04 -3.68297744e+01] [-5.65171683e-03 7.34287831e-05 9.99984026e-01 -7.13382637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.18, Y:-36.84, Z:-7.13 [[ 9.91389441e-01 1.30857180e-01 4.83476193e-03 2.98184219e+02] [-1.30855395e-01 9.91401229e-01 -6.84902558e-04 -3.68369173e+01] [-4.88281334e-03 4.63504801e-05 9.99988078e-01 -7.13434323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:-36.84, Z:-7.13 [[ 9.90255309e-01 1.39218463e-01 3.55555473e-03 2.98211855e+02] [-1.39217551e-01 9.90261693e-01 -5.03890083e-04 -3.68445861e+01] [-3.59108045e-03 3.98420786e-06 9.99993552e-01 -7.13476582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.24, Y:-36.85, Z:-7.14 [[ 9.89549173e-01 1.44156218e-01 3.37912247e-03 2.98238116e+02] [-1.44155423e-01 9.89554943e-01 -4.78961498e-04 -3.68493583e+01] [-3.41287262e-03 -1.31628756e-05 9.99994176e-01 -7.13542015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6342038220001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:298.26, Y:-36.86, Z:-7.14 [[ 9.88063767e-01 1.54029137e-01 2.24003743e-03 2.98264772e+02] [-1.54028812e-01 9.88066305e-01 -3.17946242e-04 -3.68564293e+01] [-2.26227849e-03 -3.08791430e-05 9.99997441e-01 -7.13832250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.29, Y:-36.86, Z:-7.14 [[ 9.87385630e-01 1.58320723e-01 2.04113584e-03 2.98291734e+02] [-1.58320462e-01 9.87387739e-01 -2.89701611e-04 -3.68618641e+01] [-2.06125828e-03 -3.71063627e-05 9.99997875e-01 -7.13730661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:-36.87, Z:-7.14 [[ 9.86720055e-01 1.62417575e-01 2.01614049e-03 2.98319280e+02] [-1.62417331e-01 9.86722113e-01 -2.85727197e-04 -3.68670152e+01] [-2.03577752e-03 -4.55234009e-05 9.99997927e-01 -7.13807243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72420382200005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:298.35, Y:-36.87, Z:-7.14 [[ 9.85727827e-01 1.68335772e-01 1.92865290e-03 2.98346159e+02] [-1.68335559e-01 9.85729712e-01 -2.73325728e-04 -3.68737035e+01] [-1.94714097e-03 -5.52360901e-05 9.99998103e-01 -7.14040186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.37, Y:-36.88, Z:-7.14 [[ 9.85423584e-01 1.70091297e-01 3.05118132e-03 2.98372821e+02] [-1.70090776e-01 9.85428304e-01 -4.31399510e-04 -3.68788555e+01] [-3.08009774e-03 -9.38665482e-05 9.99995252e-01 -7.13948904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:-36.88, Z:-7.14 [[ 9.85065243e-01 1.72138232e-01 3.85955261e-03 2.98400331e+02] [-1.72137418e-01 9.85072796e-01 -5.44576315e-04 -3.68833357e+01] [-3.89568269e-03 -1.27930221e-04 9.99992404e-01 -7.13923485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:-36.89, Z:-7.14 [[ 9.85008418e-01 1.72476147e-01 3.22401530e-03 2.98427758e+02] [-1.72475581e-01 9.85013689e-01 -4.54997091e-04 -3.68874821e+01] [-3.25417535e-03 -1.07887946e-04 9.99994699e-01 -7.13978447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:-36.89, Z:-7.14 [[ 9.84803054e-01 1.73625067e-01 4.15712108e-03 2.98454921e+02] [-1.73624138e-01 9.84811817e-01 -5.86086227e-04 -3.68903172e+01] [-4.19574122e-03 -1.44597058e-04 9.99991187e-01 -7.14057470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.48, Y:-36.89, Z:-7.14 [[ 9.84721438e-01 1.74086532e-01 4.19147211e-03 2.98482494e+02] [-1.74085594e-01 9.84730348e-01 -5.90277242e-04 -3.68933580e+01] [-4.23022911e-03 -1.48416260e-04 9.99991042e-01 -7.14078118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:-36.90, Z:-7.14 [[ 9.84577542e-01 1.74902078e-01 4.04075105e-03 2.98510015e+02] [-1.74901214e-01 9.84585822e-01 -5.68819855e-04 -3.68965164e+01] [-4.07795397e-03 -1.46685010e-04 9.99991674e-01 -7.14129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:-36.90, Z:-7.14 [[ 9.84239259e-01 1.76801285e-01 3.79290618e-03 2.98537377e+02] [-1.76800538e-01 9.84246557e-01 -5.33981483e-04 -3.68963950e+01] [-3.82756346e-03 -1.45022313e-04 9.99992664e-01 -7.14206184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:-36.90, Z:-7.14 [[ 9.84091476e-01 1.77619141e-01 3.92523056e-03 2.98563985e+02] [-1.77618349e-01 9.84099292e-01 -5.52111198e-04 -3.68984936e+01] [-3.96088214e-03 -1.53865050e-04 9.99992144e-01 -7.14318392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.59, Y:-36.90, Z:-7.14 [[ 9.84010372e-01 1.78077666e-01 3.45449728e-03 2.98591042e+02] [-1.78077056e-01 9.84016426e-01 -4.85593135e-04 -3.68966571e+01] [-3.48575536e-03 -1.37338025e-04 9.99993915e-01 -7.14336830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:-36.90, Z:-7.14 [[ 9.84050061e-01 1.77853235e-01 3.70194515e-03 2.98619240e+02] [-1.77852535e-01 9.84057013e-01 -5.20044725e-04 -3.68953067e+01] [-3.73541673e-03 -1.46650287e-04 9.99993013e-01 -7.14352539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:-36.89, Z:-7.14 [[ 9.84199722e-01 1.77023659e-01 3.67856104e-03 2.98647655e+02] [-1.77022963e-01 9.84206586e-01 -5.16546364e-04 -3.68942294e+01] [-3.71190493e-03 -1.42804989e-04 9.99993101e-01 -7.14381555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.68, Y:-36.89, Z:-7.15 [[ 9.84952215e-01 1.72778750e-01 4.07901817e-03 2.98675054e+02] [-1.72777859e-01 9.84960651e-01 -5.72520508e-04 -3.68915222e+01] [-4.11659177e-03 -1.40858684e-04 9.99991517e-01 -7.14560013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.70, Y:-36.89, Z:-7.15 [[ 9.86126805e-01 1.65952038e-01 3.72092091e-03 2.98703846e+02] [-1.65951250e-01 9.86133820e-01 -5.21857636e-04 -3.68912581e+01] [-3.75592929e-03 -1.02873672e-04 9.99992941e-01 -7.14606830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.73, Y:-36.89, Z:-7.15 [[ 9.86814693e-01 1.61805927e-01 3.95019274e-03 2.98732347e+02] [-1.61805008e-01 9.86822595e-01 -5.53395023e-04 -3.68916711e+01] [-3.98768205e-03 -9.30626276e-05 9.99992045e-01 -7.14642971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:-36.89, Z:-7.15 [[ 9.87586111e-01 1.57021137e-01 4.24686758e-03 2.98760615e+02] [-1.57020030e-01 9.87595239e-01 -5.94842051e-04 -3.68920539e+01] [-4.28758898e-03 -7.93855283e-05 9.99990805e-01 -7.14732233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382200007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:298.79, Y:-36.89, Z:-7.15 [[ 9.89405278e-01 1.45121616e-01 4.11251479e-03 2.98787539e+02] [-1.45120476e-01 9.89413824e-01 -5.75992067e-04 -3.68915712e+01] [-4.15256789e-03 -2.69205118e-05 9.99991378e-01 -7.15054717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:-36.90, Z:-7.15 [[ 9.90313881e-01 1.38794254e-01 3.81725475e-03 2.98815697e+02] [-1.38793226e-01 9.90321238e-01 -5.34228436e-04 -3.68951535e+01] [-3.85445629e-03 -7.55266216e-07 9.99992572e-01 -7.14952405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382200007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:298.84, Y:-36.90, Z:-7.15 [[ 9.91969093e-01 1.26410291e-01 4.21398936e-03 2.98843607e+02] [-1.26408928e-01 9.91978042e-01 -5.89307212e-04 -3.68959902e+01] [-4.25467941e-03 5.18886623e-05 9.99990947e-01 -7.15253191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:-36.90, Z:-7.15 [[ 9.92683286e-01 1.20646466e-01 4.93196179e-03 2.98870772e+02] [-1.20644531e-01 9.92695533e-01 -6.89250723e-04 -3.68990693e+01] [-4.97909210e-03 8.91934576e-05 9.99987600e-01 -7.15038186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3242038220001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.90, Y:-36.90, Z:-7.15 [[ 9.93740791e-01 1.11563564e-01 5.72807790e-03 2.98898144e+02] [-1.11560809e-01 9.93757288e-01 -7.99256979e-04 -3.69030185e+01] [-5.78148712e-03 1.55225256e-04 9.99983275e-01 -7.15198242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.93, Y:-36.91, Z:-7.15 [[ 9.94081809e-01 1.08488191e-01 5.62748990e-03 2.98926244e+02] [-1.08485486e-01 9.94097723e-01 -7.84705474e-04 -3.69086640e+01] [-5.67940618e-03 1.69560462e-04 9.99983858e-01 -7.15120542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3842038220001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:298.95, Y:-36.91, Z:-7.15 [[ 9.94413759e-01 1.05386563e-01 5.91172045e-03 2.98953601e+02] [-1.05383524e-01 9.94431312e-01 -8.24185328e-04 -3.69136221e+01] [-5.96565798e-03 1.96583298e-04 9.99982186e-01 -7.15386102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.98, Y:-36.92, Z:-7.15 [[ 9.94454838e-01 1.05002068e-01 5.84295237e-03 2.98982223e+02] [-1.04999096e-01 9.94471984e-01 -8.14024221e-04 -3.69184424e+01] [-5.89612666e-03 1.96005611e-04 9.99982598e-01 -7.15195665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.01, Y:-36.92, Z:-7.15 [[ 9.94330607e-01 1.06190286e-01 5.50161856e-03 2.99010574e+02] [-1.06187669e-01 9.94345811e-01 -7.66289237e-04 -3.69239930e+01] [-5.55188384e-03 1.77740789e-04 9.99984572e-01 -7.15151698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.04, Y:-36.93, Z:-7.15 [[ 9.94334526e-01 1.06153578e-01 5.50168586e-03 2.99039625e+02] [-1.06150964e-01 9.94349730e-01 -7.65805430e-04 -3.69279541e+01] [-5.55189283e-03 1.77457523e-04 9.99984572e-01 -7.15219275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.07, Y:-36.93, Z:-7.15 [[ 9.94184494e-01 1.07537761e-01 5.72901305e-03 2.99067366e+02] [-1.07534949e-01 9.94200985e-01 -7.97620193e-04 -3.69328832e+01] [-5.78156471e-03 1.76912505e-04 9.99983271e-01 -7.15289590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53420382200005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:299.10, Y:-36.94, Z:-7.16 [[ 9.93748903e-01 1.11543004e-01 4.61260281e-03 2.99095785e+02] [-1.11541225e-01 9.93759600e-01 -6.41942003e-04 -3.69392108e+01] [-4.65542247e-03 1.23433792e-04 9.99989156e-01 -7.15553430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.12, Y:-36.95, Z:-7.15 [[ 9.93479711e-01 1.13895057e-01 5.09710837e-03 2.99123298e+02] [-1.13892916e-01 9.93492778e-01 -7.09217896e-04 -3.69453704e+01] [-5.14471677e-03 1.24069053e-04 9.99986758e-01 -7.15419116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.15, Y:-36.95, Z:-7.15 [[ 9.93170935e-01 1.16541116e-01 5.44627432e-03 2.99150874e+02] [-1.16538713e-01 9.93185861e-01 -7.57573902e-04 -3.69505896e+01] [-5.49745116e-03 1.17698580e-04 9.99984882e-01 -7.15441582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.18, Y:-36.96, Z:-7.15 [[ 9.92399403e-01 1.22916772e-01 5.90692822e-03 2.99178236e+02] [-1.22914061e-01 9.92416979e-01 -8.21081479e-04 -3.69558253e+01] [-5.96306055e-03 8.87962318e-05 9.99982217e-01 -7.15442557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.21, Y:-36.96, Z:-7.16 [[ 9.91563180e-01 1.29470217e-01 6.31854773e-03 2.99205840e+02] [-1.29467252e-01 9.91583310e-01 -8.77723233e-04 -3.69628430e+01] [-6.37900549e-03 5.22730286e-05 9.99979653e-01 -7.15544207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:-36.97, Z:-7.16 [[ 9.91138824e-01 1.32683566e-01 6.23716574e-03 2.99233003e+02] [-1.32680745e-01 9.91158449e-01 -8.65770487e-04 -3.69679393e+01] [-6.29689303e-03 3.05469448e-05 9.99980174e-01 -7.15575049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.26, Y:-36.97, Z:-7.16 [[ 9.90699230e-01 1.35966490e-01 5.30555320e-03 2.99260169e+02] [-1.35964496e-01 9.90713437e-01 -7.36556050e-04 -3.69722022e+01] [-5.35642978e-03 8.33864775e-06 9.99985654e-01 -7.15637929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.29, Y:-36.98, Z:-7.16 [[ 9.89783973e-01 1.42482396e-01 5.14337496e-03 2.99287633e+02] [-1.42480610e-01 9.89797336e-01 -7.13726948e-04 -3.69766922e+01] [-5.19259235e-03 -2.63957087e-05 9.99986518e-01 -7.15783657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77420382200006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:299.31, Y:-36.98, Z:-7.16 [[ 9.89068470e-01 1.47367689e-01 5.13089406e-03 2.99314461e+02] [-1.47365979e-01 9.89081777e-01 -7.11830718e-04 -3.69805457e+01] [-5.17977466e-03 -5.20699091e-05 9.99986584e-01 -7.16050147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:-36.98, Z:-7.16 [[ 9.88883001e-01 1.48616068e-01 4.86558626e-03 2.99342247e+02] [-1.48614548e-01 9.88894970e-01 -6.74463159e-04 -3.69842698e+01] [-4.91178984e-03 -5.61317512e-05 9.99987936e-01 -7.15954603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.37, Y:-36.99, Z:-7.16 [[ 9.88727501e-01 1.49628177e-01 5.41630328e-03 2.99368776e+02] [-1.49626311e-01 9.88742334e-01 -7.50415586e-04 -3.69879366e+01] [-5.46761166e-03 -6.84649536e-05 9.99985050e-01 -7.16066767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:-36.99, Z:-7.16 [[ 9.88673845e-01 1.50000193e-01 4.89605400e-03 2.99396598e+02] [-1.49998675e-01 9.88685965e-01 -6.77854962e-04 -3.69922795e+01] [-4.94233825e-03 -6.42241421e-05 9.99987785e-01 -7.16136401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.42, Y:-37.00, Z:-7.16 [[ 9.88808218e-01 1.49141256e-01 3.89782874e-03 2.99424399e+02] [-1.49140287e-01 9.88815900e-01 -5.39724989e-04 -3.69960115e+01] [-3.93473029e-03 -4.76387933e-05 9.99992258e-01 -7.16308269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.45, Y:-37.00, Z:-7.16 [[ 9.89393451e-01 1.45216107e-01 3.58918237e-03 2.99450889e+02] [-1.45215257e-01 9.89399960e-01 -4.97541243e-04 -3.70008085e+01] [-3.62338790e-03 -2.89399938e-05 9.99993435e-01 -7.16406663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.48, Y:-37.01, Z:-7.17 [[ 9.89829178e-01 1.42197088e-01 4.26460680e-03 2.99478795e+02] [-1.42195867e-01 9.89838364e-01 -5.89539233e-04 -3.70060637e+01] [-4.30510218e-03 -2.28663279e-05 9.99990733e-01 -7.16541012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.51, Y:-37.01, Z:-7.17 [[ 9.90320212e-01 1.38741973e-01 4.06731821e-03 2.99506826e+02] [-1.38740834e-01 9.90328564e-01 -5.62051242e-04 -3.70110970e+01] [-4.10596151e-03 -7.69241766e-06 9.99991570e-01 -7.16586615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:-37.02, Z:-7.17 [[ 9.91168710e-01 1.32542741e-01 4.12427332e-03 2.99535206e+02] [-1.32541520e-01 9.91177291e-01 -5.69182757e-04 -3.70165386e+01] [-4.16332709e-03 1.75186833e-05 9.99991333e-01 -7.16620302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.56, Y:-37.02, Z:-7.17 [[ 9.91513947e-01 1.29922964e-01 4.48501436e-03 2.99563959e+02] [-1.29921495e-01 9.91524091e-01 -6.18659211e-04 -3.70209817e+01] [-4.52737782e-03 3.07094659e-05 9.99989751e-01 -7.16737149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.59, Y:-37.03, Z:-7.17 [[ 9.92038749e-01 1.25804475e-01 5.68806668e-03 2.99591075e+02] [-1.25802046e-01 9.92055054e-01 -7.84250505e-04 -3.70266879e+01] [-5.74153752e-03 6.24364626e-05 9.99983515e-01 -7.16686924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.62, Y:-37.03, Z:-7.17 [[ 9.92158215e-01 1.24883356e-01 5.12089196e-03 2.99618849e+02] [-1.24881376e-01 9.92171429e-01 -7.05802455e-04 -3.70309449e+01] [-5.16894567e-03 6.07636698e-05 9.99986639e-01 -7.16760247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.65, Y:-37.04, Z:-7.17 [[ 9.92183028e-01 1.24730624e-01 3.88734923e-03 2.99647726e+02] [-1.24729482e-01 9.92190642e-01 -5.35617529e-04 -3.70354940e+01] [-3.92379944e-03 4.65635647e-05 9.99992301e-01 -7.16888642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.68, Y:-37.04, Z:-7.17 [[ 9.92043908e-01 1.25840959e-01 3.59689361e-03 2.99676500e+02] [-1.25839989e-01 9.92050428e-01 -4.95543747e-04 -3.70395276e+01] [-3.63065954e-03 3.89681038e-05 9.99993408e-01 -7.17002099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:-37.04, Z:-7.17 [[ 9.91906881e-01 1.26890117e-01 4.43141549e-03 2.99704406e+02] [-1.26888655e-01 9.91916779e-01 -6.10528512e-04 -3.70432073e+01] [-4.47306541e-03 4.32910799e-05 9.99989995e-01 -7.17019614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.73, Y:-37.05, Z:-7.17 [[ 9.91679777e-01 1.28585985e-01 6.07162203e-03 2.99731834e+02] [-1.28583281e-01 9.91698363e-01 -8.35190577e-04 -3.70486183e+01] [-6.12861143e-03 4.75325223e-05 9.99981219e-01 -7.16998581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.76, Y:-37.05, Z:-7.17 [[ 9.91631200e-01 1.28942160e-01 6.44063565e-03 2.99760773e+02] [-1.28939130e-01 9.91652115e-01 -8.85236908e-04 -3.70534445e+01] [-6.50101433e-03 4.73785779e-05 9.99978867e-01 -7.17022072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.79, Y:-37.06, Z:-7.17 [[ 9.91584005e-01 1.29355491e-01 5.32143616e-03 2.99788150e+02] [-1.29353429e-01 9.91598283e-01 -7.31335358e-04 -3.70587495e+01] [-5.37132920e-03 3.68344281e-05 9.99985574e-01 -7.17149087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.82, Y:-37.06, Z:-7.17 [[ 9.91575589e-01 1.29436478e-01 4.90391994e-03 2.99815441e+02] [-1.29434728e-01 9.91587715e-01 -6.73994374e-04 -3.70634234e+01] [-4.94990623e-03 3.35788248e-05 9.99987749e-01 -7.17267691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.84, Y:-37.07, Z:-7.17 [[ 9.91431254e-01 1.30535548e-01 4.95377629e-03 2.99844258e+02] [-1.30533778e-01 9.91443629e-01 -6.80321088e-04 -3.70684647e+01] [-5.00019603e-03 2.78564559e-05 9.99987499e-01 -7.17385334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.87, Y:-37.07, Z:-7.17 [[ 9.91275454e-01 1.31723532e-01 4.67815144e-03 2.99872879e+02] [-1.31721968e-01 9.91286493e-01 -6.42341682e-04 -3.70731266e+01] [-4.72199984e-03 2.05222299e-05 9.99988851e-01 -7.17447976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.90, Y:-37.08, Z:-7.17 [[ 9.90703126e-01 1.36014433e-01 2.71866224e-03 2.99899722e+02] [-1.36013920e-01 9.90706856e-01 -3.73625774e-04 -3.70795856e+01] [-2.74421582e-03 3.76314102e-07 9.99996235e-01 -7.17479805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:-37.08, Z:-7.18 [[ 9.90379879e-01 1.38361127e-01 1.97344809e-03 2.99926680e+02] [-1.38360859e-01 9.90381845e-01 -2.72554772e-04 -3.70843571e+01] [-1.99217815e-03 -3.11521009e-06 9.99998016e-01 -7.17555417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.95, Y:-37.09, Z:-7.18 [[ 9.90068888e-01 1.40571672e-01 1.78941361e-03 2.99954475e+02] [-1.40571456e-01 9.90070505e-01 -2.46511869e-04 -3.70889767e+01] [-1.80629822e-03 -7.47674454e-06 9.99998369e-01 -7.17625536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:-37.09, Z:-7.18 [[ 9.89540803e-01 1.44239137e-01 2.01759643e-03 2.99981048e+02] [-1.44238871e-01 9.89542860e-01 -2.77839064e-04 -3.70929865e+01] [-2.03657341e-03 -1.60827402e-05 9.99997926e-01 -7.17760099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.01, Y:-37.10, Z:-7.18 [[ 9.89403968e-01 1.45172844e-01 2.15261663e-03 3.00008920e+02] [-1.45172544e-01 9.89406309e-01 -2.95929033e-04 -3.70961812e+01] [-2.17277334e-03 -1.97074734e-05 9.99997639e-01 -7.17772112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.04, Y:-37.10, Z:-7.18 [[ 9.89201690e-01 1.46506920e-01 3.96711174e-03 3.00036782e+02] [-1.46505918e-01 9.89209644e-01 -5.43653700e-04 -3.70997795e+01] [-4.00395423e-03 -4.34221888e-05 9.99991983e-01 -7.17928341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:-37.10, Z:-7.18 [[ 9.89199898e-01 1.46497032e-01 4.70967674e-03 3.00063924e+02] [-1.46495622e-01 9.89211108e-01 -6.44955169e-04 -3.71038934e+01] [-4.75334857e-03 -5.19574343e-05 9.99988701e-01 -7.17914278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61420382200004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:300.09, Y:-37.11, Z:-7.18 [[ 9.89223558e-01 1.46347141e-01 4.38947048e-03 3.00091134e+02] [-1.46345917e-01 9.89233295e-01 -6.00635634e-04 -3.71090628e+01] [-4.43011166e-03 -4.82181624e-05 9.99990186e-01 -7.18146832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.12, Y:-37.11, Z:-7.18 [[ 9.89317416e-01 1.45704302e-01 4.61596082e-03 3.00118311e+02] [-1.45702944e-01 9.89328183e-01 -6.30954643e-04 -3.71138508e+01] [-4.65863294e-03 -4.83446641e-05 9.99989147e-01 -7.18095187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.15, Y:-37.12, Z:-7.18 [[ 9.89381121e-01 1.45278674e-01 4.37085557e-03 3.00147109e+02] [-1.45277454e-01 9.89390775e-01 -5.97027733e-04 -3.71175228e+01] [-4.41121958e-03 -4.42988010e-05 9.99990270e-01 -7.18193332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.17, Y:-37.12, Z:-7.18 [[ 9.89395232e-01 1.45185405e-01 4.27469775e-03 3.00174511e+02] [-1.45184237e-01 9.89404465e-01 -5.83931340e-04 -3.71192748e+01] [-4.31418335e-03 -4.28798489e-05 9.99990693e-01 -7.18300762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.20, Y:-37.13, Z:-7.18 [[ 9.89441380e-01 1.44864643e-01 4.47122701e-03 3.00202499e+02] [-1.44863364e-01 9.89451481e-01 -6.10202357e-04 -3.71252509e+01] [-4.51245894e-03 -4.39575254e-05 9.99989818e-01 -7.18368119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.23, Y:-37.13, Z:-7.18 [[ 9.89471540e-01 1.44647782e-01 4.80535851e-03 3.00229880e+02] [-1.44646302e-01 9.89483207e-01 -6.55839726e-04 -3.71299879e+01] [-4.84968731e-03 -4.61425961e-05 9.99988239e-01 -7.18371774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.26, Y:-37.13, Z:-7.18 [[ 9.89494760e-01 1.44480808e-01 5.04137487e-03 3.00257165e+02] [-1.44479180e-01 9.89507602e-01 -6.87594441e-04 -3.71329268e+01] [-5.08782296e-03 -4.80026117e-05 9.99987056e-01 -7.18364842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.29, Y:-37.14, Z:-7.18 [[ 9.89646937e-01 1.43442276e-01 4.82224964e-03 3.00285549e+02] [-1.43440775e-01 9.89658684e-01 -6.57493664e-04 -3.71351274e+01] [-4.86669363e-03 -4.10206354e-05 9.99988157e-01 -7.18421955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.31, Y:-37.14, Z:-7.18 [[ 9.89753641e-01 1.42695882e-01 5.06116039e-03 3.00312893e+02] [-1.42694221e-01 9.89766580e-01 -6.89626480e-04 -3.71384193e+01] [-5.10777427e-03 -3.96380197e-05 9.99986954e-01 -7.18445557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.34, Y:-37.14, Z:-7.18 [[ 9.90151067e-01 1.39901476e-01 5.33298643e-03 3.00341122e+02] [-1.39899596e-01 9.90165429e-01 -7.25792963e-04 -3.71429575e+01] [-5.38207830e-03 -2.74379705e-05 9.99985516e-01 -7.18494265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.37, Y:-37.15, Z:-7.19 [[ 9.90401347e-01 1.38105733e-01 5.65487828e-03 3.00369509e+02] [-1.38103592e-01 9.90417491e-01 -7.69259136e-04 -3.71481155e+01] [-5.70692946e-03 -1.90837191e-05 9.99983715e-01 -7.18555895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.40, Y:-37.15, Z:-7.19 [[ 9.90861117e-01 1.34727437e-01 6.53953484e-03 3.00397160e+02] [-1.34724502e-01 9.90882696e-01 -8.89300682e-04 -3.71523644e+01] [-6.59972512e-03 1.37892375e-07 9.99978222e-01 -7.18517030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.42, Y:-37.16, Z:-7.19 [[ 9.90972257e-01 1.33905509e-01 6.58025412e-03 3.00424910e+02] [-1.33902522e-01 9.90994104e-01 -8.94415754e-04 -3.71551650e+01] [-6.64076023e-03 5.22858007e-06 9.99977950e-01 -7.18535461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.45, Y:-37.16, Z:-7.19 [[ 9.91082649e-01 1.33089705e-01 6.50479376e-03 3.00453516e+02] [-1.33086773e-01 9.91103996e-01 -8.83593006e-04 -3.71579045e+01] [-6.56452422e-03 1.00116893e-05 9.99978453e-01 -7.18624511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.48, Y:-37.16, Z:-7.19 [[ 9.91149233e-01 1.32554681e-01 7.24258560e-03 3.00481683e+02] [-1.32551034e-01 9.91175694e-01 -9.83345566e-04 -3.71615107e+01] [-7.30902187e-03 1.46299900e-05 9.99973289e-01 -7.18648685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064203822 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:300.51, Y:-37.17, Z:-7.19 [[ 9.91167770e-01 1.32392885e-01 7.65343299e-03 3.00510256e+02] [-1.32388811e-01 9.91197318e-01 -1.03872245e-03 -3.71660904e+01] [-7.72358172e-03 1.63193203e-05 9.99970173e-01 -7.18853164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.54, Y:-37.17, Z:-7.19 [[ 9.91286150e-01 1.31492894e-01 7.83502010e-03 3.00538499e+02] [-1.31488599e-01 9.91317113e-01 -1.06294814e-03 -3.71714875e+01] [-7.90675963e-03 2.34699518e-05 9.99968741e-01 -7.18824791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.57, Y:-37.18, Z:-7.19 [[ 9.91404831e-01 1.30617664e-01 7.44895651e-03 3.00566235e+02] [-1.30613759e-01 9.91432814e-01 -1.01044628e-03 -3.71764746e+01] [-7.51712205e-03 2.88251132e-05 9.99971746e-01 -7.18887364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.60, Y:-37.18, Z:-7.19 [[ 9.91652065e-01 1.28801691e-01 6.02539827e-03 3.00595231e+02] [-1.28799104e-01 9.91670370e-01 -8.17033855e-04 -3.71802811e+01] [-6.08044428e-03 3.41474088e-05 9.99981513e-01 -7.19078850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.62, Y:-37.18, Z:-7.19 [[ 9.91863594e-01 1.27192164e-01 5.36322849e-03 3.00623176e+02] [-1.27190090e-01 9.91878093e-01 -7.27401697e-04 -3.71845890e+01] [-5.41218864e-03 3.93337467e-05 9.99985353e-01 -7.19235380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.65, Y:-37.19, Z:-7.19 [[ 9.92387924e-01 1.23063724e-01 4.63992576e-03 3.00651181e+02] [-1.23062129e-01 9.92398769e-01 -6.28902849e-04 -3.71912814e+01] [-4.68205174e-03 5.31164521e-05 9.99989038e-01 -7.19310463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24420382200003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.68, Y:-37.20, Z:-7.19 [[ 9.92617063e-01 1.21205422e-01 4.53997415e-03 3.00679687e+02] [-1.21203876e-01 9.92627444e-01 -6.15177123e-04 -3.71963412e+01] [-4.58106574e-03 6.03728430e-05 9.99989505e-01 -7.19455261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.71, Y:-37.20, Z:-7.19 [[ 9.92934088e-01 1.18535517e-01 5.58821015e-03 3.00706426e+02] [-1.18533134e-01 9.92949809e-01 -7.56871747e-04 -3.72043366e+01] [-5.63852839e-03 8.91356960e-05 9.99984099e-01 -7.19396469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.74, Y:-37.21, Z:-7.19 [[ 9.93014891e-01 1.17854544e-01 5.63314590e-03 3.00735141e+02] [-1.17852115e-01 9.93030865e-01 -7.62341330e-04 -3.72098065e+01] [-5.68373313e-03 9.31381350e-05 9.99983843e-01 -7.19399605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:-37.21, Z:-7.19 [[ 9.92880129e-01 1.18969578e-01 5.94043984e-03 3.00763409e+02] [-1.18966899e-01 9.92897896e-01 -8.03571858e-04 -3.72139262e+01] [-5.99385082e-03 9.11348227e-05 9.99982033e-01 -7.19370681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.79, Y:-37.22, Z:-7.19 [[ 9.92884501e-01 1.18933085e-01 5.94050684e-03 3.00792478e+02] [-1.18930408e-01 9.92902268e-01 -8.03075909e-04 -3.72177709e+01] [-5.99385501e-03 9.08547190e-05 9.99982033e-01 -7.19438257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.82, Y:-37.22, Z:-7.19 [[ 9.92689955e-01 1.20513254e-01 6.57331406e-03 3.00820563e+02] [-1.20510012e-01 9.92711714e-01 -8.88490019e-04 -3.72220176e+01] [-6.63248069e-03 8.98449597e-05 9.99978001e-01 -7.19496441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.85, Y:-37.23, Z:-7.19 [[ 9.92413004e-01 1.22723692e-01 7.43800879e-03 3.00847760e+02] [-1.22719605e-01 9.92440874e-01 -1.00514224e-03 -3.72263040e+01] [-7.50513871e-03 8.47267239e-05 9.99971832e-01 -7.19496679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.88, Y:-37.23, Z:-7.19 [[ 9.91601682e-01 1.29121684e-01 7.32765117e-03 3.00875255e+02] [-1.29117895e-01 9.91628756e-01 -9.89750381e-04 -3.72310864e+01] [-7.39410785e-03 3.53072486e-05 9.99972663e-01 -7.19440075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.90, Y:-37.23, Z:-7.20 [[ 9.91133101e-01 1.32696127e-01 6.84931854e-03 3.00903120e+02] [-1.32692905e-01 9.91156768e-01 -9.24642598e-04 -3.72346248e+01] [-6.91144492e-03 7.58790887e-06 9.99976116e-01 -7.19651644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.93, Y:-37.24, Z:-7.20 [[ 9.90325545e-01 1.38568731e-01 7.34997984e-03 3.00930787e+02] [-1.38565189e-01 9.90352819e-01 -9.91480980e-04 -3.72377688e+01] [-7.41646152e-03 -3.65624047e-05 9.99972497e-01 -7.19613363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54420382200004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:300.96, Y:-37.24, Z:-7.20 [[ 9.89942578e-01 1.41296787e-01 6.99359328e-03 3.00959270e+02] [-1.41293650e-01 9.89967280e-01 -9.43134283e-04 -3.72402698e+01] [-7.05669036e-03 -5.45015400e-05 9.99975100e-01 -7.19850224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.99, Y:-37.24, Z:-7.20 [[ 9.89409239e-01 1.44972961e-01 7.22486538e-03 3.00987005e+02] [-1.44969712e-01 9.89435614e-01 -9.74110210e-04 -3.72413685e+01] [-7.28975876e-03 -8.35930131e-05 9.99973426e-01 -7.19774007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.02, Y:-37.24, Z:-7.20 [[ 9.89272833e-01 1.45888233e-01 7.47568556e-03 3.01016012e+02] [-1.45884787e-01 9.89301074e-01 -1.00720690e-03 -3.72434644e+01] [-7.54264338e-03 -9.41863720e-05 9.99971549e-01 -7.19860315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6342038220001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:301.04, Y:-37.25, Z:-7.20 [[ 9.89222204e-01 1.46239677e-01 7.30671542e-03 3.01044787e+02] [-1.46236397e-01 9.89249184e-01 -9.84111364e-04 -3.72457853e+01] [-7.37207839e-03 -9.50029232e-05 9.99972821e-01 -7.20170649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.07, Y:-37.25, Z:-7.20 [[ 9.89485583e-01 1.44478979e-01 6.64128327e-03 3.01072595e+02] [-1.44476229e-01 9.89507867e-01 -8.94458432e-04 -3.72508418e+01] [-6.70083249e-03 -7.44538422e-05 9.99977546e-01 -7.20112028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.10, Y:-37.25, Z:-7.20 [[ 9.89715665e-01 1.42901886e-01 6.47712019e-03 3.01101518e+02] [-1.42899240e-01 9.89736858e-01 -8.71806101e-04 -3.72535151e+01] [-6.53522732e-03 -6.27353975e-05 9.99978643e-01 -7.20180566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.13, Y:-37.26, Z:-7.20 [[ 9.90141976e-01 1.39950850e-01 5.71200618e-03 3.01130489e+02] [-1.39948744e-01 9.90158451e-01 -7.68674385e-04 -3.72550968e+01] [-5.76336782e-03 -3.82913154e-05 9.99983391e-01 -7.20236099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.16, Y:-37.26, Z:-7.20 [[ 9.90346426e-01 1.38495958e-01 5.72945325e-03 3.01157698e+02] [-1.38493815e-01 9.90362998e-01 -7.70934265e-04 -3.72592798e+01] [-5.78100978e-03 -3.00018467e-05 9.99983289e-01 -7.20348389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.19, Y:-37.26, Z:-7.20 [[ 9.90767774e-01 1.35409864e-01 6.58678214e-03 3.01186407e+02] [-1.35406970e-01 9.90789669e-01 -8.85449793e-04 -3.72629378e+01] [-6.64601433e-03 -1.46210919e-05 9.99977915e-01 -7.20362665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.21, Y:-37.27, Z:-7.20 [[ 9.91008536e-01 1.33589578e-01 7.47706754e-03 3.01214648e+02] [-1.33585800e-01 9.91036742e-01 -1.00462549e-03 -3.72659743e+01] [-7.54425615e-03 -3.23761404e-06 9.99971542e-01 -7.20396017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.24, Y:-37.27, Z:-7.20 [[ 9.91252417e-01 1.31746892e-01 7.83593715e-03 3.01242081e+02] [-1.31742688e-01 9.91283389e-01 -1.05258077e-03 -3.72699886e+01] [-7.90630858e-03 1.10458084e-05 9.99968745e-01 -7.20448117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.27, Y:-37.27, Z:-7.20 [[ 9.91688553e-01 1.28412755e-01 7.99859718e-03 3.01270886e+02] [-1.28408272e-01 9.91720809e-01 -1.07369972e-03 -3.72749571e+01] [-8.07025200e-03 3.76896769e-05 9.99967434e-01 -7.20472582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.30, Y:-37.28, Z:-7.21 [[ 9.92048699e-01 1.25609801e-01 7.84582368e-03 3.01300073e+02] [-1.25605402e-01 9.92079722e-01 -1.05286039e-03 -3.72773436e+01] [-7.91593216e-03 5.90109409e-05 9.99968667e-01 -7.20520917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.33, Y:-37.28, Z:-7.21 [[ 9.92216319e-01 1.24276681e-01 7.87928845e-03 3.01327526e+02] [-1.24272204e-01 9.92247601e-01 -1.05713637e-03 -3.72820368e+01] [-7.94958247e-03 6.97314121e-05 9.99968399e-01 -7.20641526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96420382200006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:301.36, Y:-37.29, Z:-7.21 [[ 9.92336902e-01 1.23336850e-01 7.44944460e-03 3.01355470e+02] [-1.23332826e-01 9.92364860e-01 -9.98880675e-04 -3.72870792e+01] [-7.51576585e-03 7.24651002e-05 9.99971754e-01 -7.20906151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99420382200003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:301.38, Y:-37.29, Z:-7.21 [[ 9.92356194e-01 1.23228175e-01 6.63338645e-03 3.01383485e+02] [-1.23224984e-01 9.92378362e-01 -8.89272885e-04 -3.72926319e+01] [-6.69241265e-03 6.50765181e-05 9.99977603e-01 -7.20930491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.41, Y:-37.30, Z:-7.21 [[ 9.92057017e-01 1.25671915e-01 5.42622152e-03 3.01411360e+02] [-1.25669815e-01 9.92071856e-01 -7.27586321e-04 -3.72960160e+01] [-5.47463882e-03 3.98948591e-05 9.99985013e-01 -7.20883655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:301.44, Y:-37.30, Z:-7.21 [[ 9.91743059e-01 1.28157579e-01 4.61951646e-03 3.01440333e+02] [-1.28156086e-01 9.91753817e-01 -6.19119063e-04 -3.72990679e+01] [-4.66076789e-03 2.19878849e-05 9.99989138e-01 -7.21167726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:-37.30, Z:-7.21 [[ 9.91431437e-01 1.30560659e-01 4.19771689e-03 3.01467733e+02] [-1.30559447e-01 9.91440323e-01 -5.62712995e-04 -3.73034049e+01] [-4.23525397e-03 9.83975756e-06 9.99991031e-01 -7.21144750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.50, Y:-37.31, Z:-7.21 [[ 9.90872766e-01 1.34775962e-01 2.56946528e-03 3.01495903e+02] [-1.34775522e-01 9.90876097e-01 -3.44555191e-04 -3.73079121e+01] [-2.59245949e-03 -4.89067003e-06 9.99996640e-01 -7.21265944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.52, Y:-37.31, Z:-7.21 [[ 9.90659864e-01 1.36337637e-01 2.25442655e-03 3.01523185e+02] [-1.36337302e-01 9.90662429e-01 -3.02616903e-04 -3.73104599e+01] [-2.27463376e-03 -7.57201230e-06 9.99997413e-01 -7.21303770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.55, Y:-37.31, Z:-7.21 [[ 9.90463924e-01 1.37754395e-01 2.22295223e-03 3.01552172e+02] [-1.37754073e-01 9.90466419e-01 -2.98019833e-04 -3.73126060e+01] [-2.24281307e-03 -1.10428311e-05 9.99997485e-01 -7.21369416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.58, Y:-37.32, Z:-7.21 [[ 9.90486948e-01 1.37586282e-01 2.37084181e-03 3.01579988e+02] [-1.37585916e-01 9.90489785e-01 -3.17929803e-04 -3.73169193e+01] [-2.39203737e-03 -1.12891198e-05 9.99997139e-01 -7.21419361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.61, Y:-37.32, Z:-7.21 [[ 9.90733885e-01 1.35785409e-01 2.94822831e-03 3.01608487e+02] [-1.35784836e-01 9.90738272e-01 -3.94535444e-04 -3.73213893e+01] [-2.97449477e-03 -9.44506398e-06 9.99995576e-01 -7.21474414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.64, Y:-37.33, Z:-7.22 [[ 9.90872194e-01 1.34758768e-01 3.51711156e-03 3.01636631e+02] [-1.34757947e-01 9.90878436e-01 -4.70275793e-04 -3.73251538e+01] [-3.54840379e-03 -7.97552841e-06 9.99993704e-01 -7.21522043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.66, Y:-37.33, Z:-7.22 [[ 9.90960967e-01 1.34068787e-01 4.68217658e-03 3.01663777e+02] [-1.34067327e-01 9.90972028e-01 -6.25662774e-04 -3.73284566e+01] [-4.72378787e-03 -7.71951063e-06 9.99988843e-01 -7.21502311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.69, Y:-37.33, Z:-7.22 [[ 9.90870171e-01 1.34739439e-01 4.64637980e-03 3.01692778e+02] [-1.34738011e-01 9.90881064e-01 -6.20375697e-04 -3.73309825e+01] [-4.68759883e-03 -1.13322008e-05 9.99989013e-01 -7.21507484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.72, Y:-37.33, Z:-7.22 [[ 9.90682240e-01 1.36124349e-01 4.34288352e-03 3.01720733e+02] [-1.36123115e-01 9.90691759e-01 -5.79937772e-04 -3.73328463e+01] [-4.38140257e-03 -1.66327823e-05 9.99990401e-01 -7.21558194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.75, Y:-37.33, Z:-7.22 [[ 9.90179309e-01 1.39765060e-01 3.26552732e-03 3.01749084e+02] [-1.39764382e-01 9.90184694e-01 -4.35978629e-04 -3.73344067e+01] [-3.29440974e-03 -2.47073893e-05 9.99994573e-01 -7.21716242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:-37.34, Z:-7.22 [[ 9.89980336e-01 1.41175138e-01 2.91802250e-03 3.01776280e+02] [-1.41174602e-01 9.89984636e-01 -3.89800854e-04 -3.73374321e+01] [-2.94382763e-03 -2.60554852e-05 9.99995667e-01 -7.21809574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.80, Y:-37.34, Z:-7.22 [[ 9.89687036e-01 1.43217937e-01 2.86244314e-03 3.01804134e+02] [-1.43217430e-01 9.89691175e-01 -3.82486203e-04 -3.73373987e+01] [-2.88771360e-03 -3.14101127e-05 9.99995830e-01 -7.21855294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.83, Y:-37.34, Z:-7.22 [[ 9.89638471e-01 1.43540792e-01 3.42603068e-03 3.01830952e+02] [-1.43540068e-01 9.89644401e-01 -4.57435686e-04 -3.73383888e+01] [-3.45621276e-03 -3.90767244e-05 9.99994027e-01 -7.21966301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.86, Y:-37.34, Z:-7.22 [[ 9.89739035e-01 1.42836794e-01 3.78052525e-03 3.01859018e+02] [-1.42835911e-01 9.89746255e-01 -5.03956188e-04 -3.73391523e+01] [-3.81374420e-03 -4.12096586e-05 9.99992727e-01 -7.22119596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.89, Y:-37.34, Z:-7.22 [[ 9.89901715e-01 1.41706091e-01 3.73867716e-03 3.01887680e+02] [-1.41705222e-01 9.89908775e-01 -4.97699125e-04 -3.73423735e+01] [-3.77147632e-03 -3.71168588e-05 9.99992887e-01 -7.22183563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.92, Y:-37.35, Z:-7.22 [[ 9.90114692e-01 1.40203014e-01 4.00149449e-03 3.01915534e+02] [-1.40202007e-01 9.90122777e-01 -5.32636982e-04 -3.73454432e+01] [-4.03664814e-03 -3.36458555e-05 9.99991852e-01 -7.22248883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:-37.35, Z:-7.22 [[ 9.90572663e-01 1.36925062e-01 4.16258662e-03 3.01944010e+02] [-1.36923945e-01 9.90581409e-01 -5.53531745e-04 -3.73477655e+01] [-4.19917329e-03 -2.16443665e-05 9.99991183e-01 -7.22294341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.97, Y:-37.35, Z:-7.22 [[ 9.91110619e-01 1.33004517e-01 3.08871386e-03 3.01972452e+02] [-1.33003883e-01 9.91115431e-01 -4.10867060e-04 -3.73499138e+01] [-3.11591915e-03 -3.59623005e-06 9.99995146e-01 -7.22405387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:-37.35, Z:-7.22 [[ 9.91347320e-01 1.31234241e-01 2.83980630e-03 3.01999826e+02] [-1.31233697e-01 9.91351388e-01 -3.77986080e-04 -3.73527287e+01] [-2.86485063e-03 2.03720887e-06 9.99995896e-01 -7.22482717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.03, Y:-37.36, Z:-7.23 [[ 9.91564633e-01 1.29592495e-01 2.31603484e-03 3.02028166e+02] [-1.29592129e-01 9.91567338e-01 -3.08092374e-04 -3.73555949e+01] [-2.33643096e-03 5.35361661e-06 9.99997271e-01 -7.22565677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.06, Y:-37.36, Z:-7.23 [[ 9.91802525e-01 1.27768401e-01 1.72829535e-03 3.02055832e+02] [-1.27768194e-01 9.91804031e-01 -2.30356488e-04 -3.73596850e+01] [-1.74356257e-03 7.64697079e-06 9.99998480e-01 -7.22570000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:-37.36, Z:-7.23 [[ 9.91894453e-01 1.27040658e-01 2.46281652e-03 3.02084312e+02] [-1.27040237e-01 9.91897510e-01 -3.27283630e-04 -3.73631605e+01] [-2.48443991e-03 1.17540228e-05 9.99996914e-01 -7.22633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:-37.37, Z:-7.23 [[ 9.92075225e-01 1.25555763e-01 4.74330929e-03 3.02112092e+02] [-1.25554189e-01 9.92086564e-01 -6.29266101e-04 -3.73673089e+01] [-4.78478140e-03 2.87369567e-05 9.99988552e-01 -7.22739954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.14, Y:-37.37, Z:-7.23 [[ 9.92192842e-01 1.24619385e-01 4.83453063e-03 3.02140735e+02] [-1.24617742e-01 9.92204620e-01 -6.40829256e-04 -3.73713340e+01] [-4.87670337e-03 3.33579126e-05 9.99988108e-01 -7.22809123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.17, Y:-37.37, Z:-7.23 [[ 9.92314749e-01 1.23627598e-01 5.25888604e-03 3.02168677e+02] [-1.23625640e-01 9.92328683e-01 -6.97071525e-04 -3.73744259e+01] [-5.30472074e-03 4.15812016e-05 9.99985929e-01 -7.22830630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86420382200004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.20, Y:-37.38, Z:-7.23 [[ 9.92589439e-01 1.21402462e-01 5.25816877e-03 3.02197251e+02] [-1.21400477e-01 9.92603365e-01 -6.96242016e-04 -3.73784030e+01] [-5.30380151e-03 5.27382772e-05 9.99985933e-01 -7.23013925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.23, Y:-37.39, Z:-7.23 [[ 9.92813827e-01 1.19567399e-01 4.93381235e-03 3.02225489e+02] [-1.19565629e-01 9.92826084e-01 -6.53114253e-04 -3.73873214e+01] [-4.97650877e-03 5.85064818e-05 9.99987615e-01 -7.23087999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.25, Y:-37.39, Z:-7.23 [[ 9.92887188e-01 1.18959427e-01 4.86698916e-03 3.02252796e+02] [-1.18957698e-01 9.92899114e-01 -6.44258694e-04 -3.73926695e+01] [-4.90906987e-03 6.07103757e-05 9.99987949e-01 -7.23107930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:-37.40, Z:-7.23 [[ 9.92918873e-01 1.18697479e-01 4.79793146e-03 3.02280260e+02] [-1.18695797e-01 9.92930463e-01 -6.34824423e-04 -3.73970407e+01] [-4.83936437e-03 6.08348494e-05 9.99988288e-01 -7.23135829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.31, Y:-37.40, Z:-7.23 [[ 9.92882474e-01 1.19034774e-01 3.88799710e-03 3.02308344e+02] [-1.19033672e-01 9.92890085e-01 -5.14208340e-04 -3.74023570e+01] [-3.92156244e-03 4.77458762e-05 9.99992310e-01 -7.23190664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.34, Y:-37.41, Z:-7.23 [[ 9.92687316e-01 1.20631206e-01 4.47277415e-03 3.02336832e+02] [-1.20629766e-01 9.92697391e-01 -5.91187872e-04 -3.74098926e+01] [-4.51142694e-03 4.73150009e-05 9.99989822e-01 -7.23222797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.37, Y:-37.42, Z:-7.23 [[ 9.92547541e-01 1.21779623e-01 4.37057398e-03 3.02365599e+02] [-1.21778261e-01 9.92557163e-01 -5.77503710e-04 -3.74155492e+01] [-4.40837269e-03 4.09589899e-05 9.99990282e-01 -7.23324982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.39, Y:-37.42, Z:-7.23 [[ 9.92386418e-01 1.23085036e-01 4.38982332e-03 3.02392667e+02] [-1.23083674e-01 9.92396127e-01 -5.80157410e-04 -3.74215131e+01] [-4.42785235e-03 3.54247511e-05 9.99990196e-01 -7.23367875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.42, Y:-37.43, Z:-7.23 [[ 9.92033442e-01 1.25863957e-01 5.28339778e-03 3.02420970e+02] [-1.25862029e-01 9.92047511e-01 -6.97261405e-04 -3.74305661e+01] [-5.32914169e-03 2.67274697e-05 9.99985800e-01 -7.23363186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1342038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.45, Y:-37.44, Z:-7.23 [[ 9.91843244e-01 1.27308534e-01 6.28623148e-03 3.02448435e+02] [-1.27305835e-01 9.91863164e-01 -8.29283309e-04 -3.74364154e+01] [-6.34065629e-03 2.22451006e-05 9.99979898e-01 -7.23405092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.48, Y:-37.44, Z:-7.23 [[ 9.91459466e-01 1.30256171e-01 6.43878883e-03 3.02476938e+02] [-1.30253406e-01 9.91480373e-01 -8.48767529e-04 -3.74444682e+01] [-6.49448996e-03 2.84442663e-06 9.99978911e-01 -7.23417692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.50, Y:-37.45, Z:-7.24 [[ 9.91287198e-01 1.31607908e-01 5.38976440e-03 3.02504649e+02] [-1.31605989e-01 9.91301850e-01 -7.10613387e-04 -3.74505157e+01] [-5.43640576e-03 -4.90332349e-06 9.99985223e-01 -7.23542575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.53, Y:-37.46, Z:-7.24 [[ 9.91014702e-01 1.33695069e-01 3.93562271e-03 3.02532483e+02] [-1.33694063e-01 9.91022517e-01 -5.18790715e-04 -3.74590194e+01] [-3.96965048e-03 -1.20401639e-05 9.99992121e-01 -7.23718009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.56, Y:-37.47, Z:-7.24 [[ 9.90918648e-01 1.34398065e-01 4.17047195e-03 3.02559442e+02] [-1.34396942e-01 9.90927424e-01 -5.49701332e-04 -3.74669688e+01] [-4.20651382e-03 -1.57893764e-05 9.99991152e-01 -7.23798471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.59, Y:-37.47, Z:-7.24 [[ 9.90928610e-01 1.34324594e-01 4.17046766e-03 3.02588526e+02] [-1.34323470e-01 9.90937386e-01 -5.49734289e-04 -3.74706841e+01] [-4.20651516e-03 -1.54442520e-05 9.99991152e-01 -7.23866039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:-37.48, Z:-7.24 [[ 9.90907130e-01 1.34492050e-01 3.86633036e-03 3.02616818e+02] [-1.34491088e-01 9.90914673e-01 -5.09002532e-04 -3.74793930e+01] [-3.89966028e-03 -1.56127378e-05 9.99992396e-01 -7.23967134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.64, Y:-37.49, Z:-7.24 [[ 9.90701276e-01 1.36042933e-01 1.81707374e-03 3.02643911e+02] [-1.36042722e-01 9.90702942e-01 -2.39991987e-04 -3.74902473e+01] [-1.83282952e-03 -9.43929053e-06 9.99998320e-01 -7.24046602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.67, Y:-37.50, Z:-7.24 [[ 9.90483020e-01 1.37626086e-01 1.56419989e-03 3.02671464e+02] [-1.37625931e-01 9.90484255e-01 -2.06670172e-04 -3.74961112e+01] [-1.57775857e-03 -1.05711708e-05 9.99998755e-01 -7.24127593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.70, Y:-37.51, Z:-7.24 [[ 9.89798530e-01 1.42454655e-01 2.35407880e-03 3.02699105e+02] [-1.42454321e-01 9.89801329e-01 -3.09946685e-04 -3.75064670e+01] [-2.37422368e-03 -2.85639248e-05 9.99997181e-01 -7.24065945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.73, Y:-37.51, Z:-7.24 [[ 9.89366701e-01 1.45403495e-01 3.36968696e-03 3.02727948e+02] [-1.45402829e-01 9.89372438e-01 -4.43005707e-04 -3.75121785e+01] [-3.39828998e-03 -5.16669217e-05 9.99994224e-01 -7.23974825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.75, Y:-37.52, Z:-7.24 [[ 9.88353713e-01 1.52018723e-01 6.87358436e-03 3.02754948e+02] [-1.52016122e-01 9.88377602e-01 -9.02312321e-04 -3.75172057e+01] [-6.93086520e-03 -1.53091910e-04 9.99975970e-01 -7.23903644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.78, Y:-37.52, Z:-7.24 [[ 9.87835442e-01 1.55297392e-01 7.99119428e-03 3.02782818e+02] [-1.55293993e-01 9.87867743e-01 -1.04792168e-03 -3.75222436e+01] [-8.05698256e-03 -2.05810288e-04 9.99967521e-01 -7.23911400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.81, Y:-37.53, Z:-7.24 [[ 9.87317204e-01 1.58552732e-01 8.10988267e-03 3.02812408e+02] [-1.58549344e-01 9.87350483e-01 -1.06300450e-03 -3.75275314e+01] [-8.17583884e-03 -2.36293945e-04 9.99966549e-01 -7.23957044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.84, Y:-37.53, Z:-7.24 [[ 9.86369759e-01 1.64373301e-01 7.49105495e-03 3.02840147e+02] [-1.64370576e-01 9.86398170e-01 -9.82316611e-04 -3.75296048e+01] [-7.55062952e-03 -2.62381616e-04 9.99971459e-01 -7.24106487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.87, Y:-37.53, Z:-7.24 [[ 9.86035928e-01 1.66399702e-01 6.65492247e-03 3.02868541e+02] [-1.66397600e-01 9.86058354e-01 -8.72230940e-04 -3.75315758e+01] [-6.70728086e-03 -2.47312085e-04 9.99977475e-01 -7.24220040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.90, Y:-37.54, Z:-7.24 [[ 9.85767433e-01 1.67986113e-01 6.57525153e-03 3.02896166e+02] [-1.67984097e-01 9.85789329e-01 -8.61671417e-04 -3.75356256e+01] [-6.62656162e-03 -2.55130068e-04 9.99978012e-01 -7.24401074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.92, Y:-37.54, Z:-7.24 [[ 9.85845385e-01 1.67544405e-01 6.14411694e-03 3.02924768e+02] [-1.67542639e-01 9.85864502e-01 -8.04664248e-04 -3.75397312e+01] [-6.19208378e-03 -2.36127029e-04 9.99980801e-01 -7.24453582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.95, Y:-37.54, Z:-7.25 [[ 9.86299008e-01 1.64892449e-01 4.97469192e-03 3.02953569e+02] [-1.64891258e-01 9.86311537e-01 -6.51254360e-04 -3.75414028e+01] [-5.01398297e-03 -1.77951682e-04 9.99987414e-01 -7.24547866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:-37.55, Z:-7.24 [[ 9.86727636e-01 1.62305394e-01 5.05279948e-03 3.02982029e+02] [-1.62349980e-01 9.86680198e-01 1.02308716e-02 -3.75511781e+01] [-3.32497155e-03 -1.09154056e-02 9.99934897e-01 -7.24084954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.01, Y:-37.54, Z:-7.25 [[ 9.87576186e-01 1.57099503e-01 3.60882251e-03 3.03010730e+02] [-1.57049957e-01 9.87525443e-01 -1.13494846e-02 -3.75428489e+01] [-5.34680243e-03 1.06417153e-02 9.99929080e-01 -7.24762083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.04, Y:-37.55, Z:-7.25 [[ 9.88076801e-01 1.53886116e-01 4.82679702e-03 3.03038943e+02] [-1.53884866e-01 9.88088584e-01 -6.31530707e-04 -3.75513054e+01] [-4.86648684e-03 -1.18770173e-04 9.99988152e-01 -7.24779390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.07, Y:-37.55, Z:-7.25 [[ 9.88476301e-01 1.51298837e-01 4.82333029e-03 3.03068063e+02] [-1.51297562e-01 9.88488063e-01 -6.30422264e-04 -3.75532815e+01] [-4.86318657e-03 -1.06600644e-04 9.99988169e-01 -7.24839384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.10, Y:-37.56, Z:-7.25 [[ 9.89280378e-01 1.45977554e-01 3.85830042e-03 3.03097677e+02] [-1.45976697e-01 9.89287900e-01 -5.04308373e-04 -3.75581833e+01] [-3.89058762e-03 -6.43195735e-05 9.99992430e-01 -7.24992893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.13, Y:-37.56, Z:-7.25 [[ 9.89689739e-01 1.43180914e-01 3.66685903e-03 3.03125815e+02] [-1.43180120e-01 9.89696531e-01 -4.79460310e-04 -3.75628319e+01] [-3.69772723e-03 -5.05043679e-05 9.99993162e-01 -7.25071400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.16, Y:-37.57, Z:-7.25 [[ 9.90316692e-01 1.38783523e-01 3.46173909e-03 3.03155722e+02] [-1.38782790e-01 9.90322742e-01 -4.52313108e-04 -3.75651240e+01] [-3.49101256e-03 -3.24965876e-05 9.99993906e-01 -7.25113624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.19, Y:-37.57, Z:-7.25 [[ 9.90656516e-01 1.36341081e-01 3.28275705e-03 3.03185084e+02] [-1.36340408e-01 9.90661955e-01 -4.28888109e-04 -3.75698012e+01] [-3.31057759e-03 -2.26916378e-05 9.99994520e-01 -7.25160559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.21, Y:-37.57, Z:-7.25 [[ 9.90726815e-01 1.35816054e-01 3.79169782e-03 3.03213811e+02] [-1.35815152e-01 9.90734071e-01 -4.95433788e-04 -3.75739348e+01] [-3.82385208e-03 -2.41304784e-05 9.99992689e-01 -7.25150767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.24, Y:-37.58, Z:-7.25 [[ 9.90674158e-01 1.36175650e-01 4.57222002e-03 3.03243630e+02] [-1.36174346e-01 9.90684708e-01 -5.96841769e-04 -3.75765288e+01] [-4.61090377e-03 -3.13433545e-05 9.99989369e-01 -7.25145312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.27, Y:-37.58, Z:-7.25 [[ 9.90312943e-01 1.38699869e-01 6.52850207e-03 3.03272558e+02] [-1.38697266e-01 9.90334460e-01 -8.51998786e-04 -3.75768109e+01] [-6.58357269e-03 -6.17399617e-05 9.99978326e-01 -7.25088829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.30, Y:-37.58, Z:-7.25 [[ 9.89855411e-01 1.41915594e-01 6.79919997e-03 3.03300769e+02] [-1.41912846e-01 9.89878759e-01 -8.87387727e-04 -3.75785505e+01] [-6.85631778e-03 -8.65082715e-05 9.99976491e-01 -7.25132835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.33, Y:-37.58, Z:-7.25 [[ 9.89641385e-01 1.43425838e-01 6.24171630e-03 3.03329163e+02] [-1.43423555e-01 9.89661064e-01 -8.14161359e-04 -3.75804776e+01] [-6.29395537e-03 -8.94813682e-05 9.99980189e-01 -7.25202594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.36, Y:-37.58, Z:-7.25 [[ 9.89420474e-01 1.44947000e-01 6.12321685e-03 3.03357242e+02] [-1.44944832e-01 9.89439416e-01 -7.98704474e-04 -3.75822117e+01] [-6.17432192e-03 -9.72740754e-05 9.99980934e-01 -7.25340816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.39, Y:-37.58, Z:-7.26 [[ 9.89092163e-01 1.47197377e-01 5.44286620e-03 3.03385397e+02] [-1.47195699e-01 9.89107134e-01 -7.09686527e-04 -3.75824064e+01] [-5.48804178e-03 -9.92211136e-05 9.99984936e-01 -7.25507879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.41, Y:-37.58, Z:-7.26 [[ 9.89013965e-01 1.47757750e-01 4.36171665e-03 3.03414355e+02] [-1.47756679e-01 9.89023579e-01 -5.68530800e-04 -3.75848608e+01] [-4.39784544e-03 -8.21878655e-05 9.99990326e-01 -7.25597805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.44, Y:-37.59, Z:-7.26 [[ 9.89052666e-01 1.47546457e-01 2.20614098e-03 3.03442094e+02] [-1.47546181e-01 9.89055126e-01 -2.88238121e-04 -3.75861624e+01] [-2.22452356e-03 -4.04249953e-05 9.99997525e-01 -7.25738389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21420382200006 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:303.47, Y:-37.59, Z:-7.26 [[ 9.89080965e-01 1.47363328e-01 1.70145733e-03 3.03471289e+02] [-1.47363164e-01 9.89082428e-01 -2.22352676e-04 -3.75879401e+01] [-1.71564817e-03 -3.08073353e-05 9.99998528e-01 -7.25930573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.50, Y:-37.59, Z:-7.26 [[ 9.89313954e-01 1.45778508e-01 2.55491292e-03 3.03499189e+02] [-1.45778133e-01 9.89317252e-01 -3.33412874e-04 -3.75900663e+01] [-2.57622386e-03 -4.26004273e-05 9.99996681e-01 -7.25798586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.53, Y:-37.59, Z:-7.26 [[ 9.89455903e-01 1.44805056e-01 2.91740609e-03 3.03527606e+02] [-1.44804565e-01 9.89460203e-01 -3.79999563e-04 -3.75931150e+01] [-2.94168308e-03 -4.64609074e-05 9.99995672e-01 -7.25822918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.56, Y:-37.60, Z:-7.26 [[ 9.89632555e-01 1.43582594e-01 3.38309546e-03 3.03556009e+02] [-1.43581927e-01 9.89638336e-01 -4.40325299e-04 -3.75954477e+01] [-3.41126402e-03 -4.99911168e-05 9.99994180e-01 -7.25833951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.59, Y:-37.60, Z:-7.26 [[ 9.90035839e-01 1.40756090e-01 4.09403464e-03 3.03585090e+02] [-1.40755092e-01 9.90044302e-01 -5.32429034e-04 -3.75971538e+01] [-4.12821830e-03 -4.91323964e-05 9.99991478e-01 -7.25915859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.61, Y:-37.60, Z:-7.26 [[ 9.90213647e-01 1.39488160e-01 4.47071213e-03 3.03612348e+02] [-1.39486957e-01 9.90223738e-01 -5.81310839e-04 -3.75999596e+01] [-4.50809126e-03 -4.79841071e-05 9.99989837e-01 -7.25959208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39420382200007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.64, Y:-37.60, Z:-7.26 [[ 9.90413122e-01 1.38052325e-01 4.83774159e-03 3.03641303e+02] [-1.38050903e-01 9.90424936e-01 -6.28392088e-04 -3.76005351e+01] [-4.87817089e-03 -4.54868245e-05 9.99988101e-01 -7.26127586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:-37.60, Z:-7.26 [[ 9.90585474e-01 1.36805261e-01 4.97384209e-03 3.03669305e+02] [-1.36803742e-01 9.90597960e-01 -6.46008937e-04 -3.76034934e+01] [-5.01545525e-03 -4.05131387e-05 9.99987422e-01 -7.26065918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.70, Y:-37.61, Z:-7.26 [[ 9.90725473e-01 1.35793328e-01 4.81760946e-03 3.03698050e+02] [-1.35791894e-01 9.90737186e-01 -6.25227414e-04 -3.76070270e+01] [-4.85788655e-03 -3.47635852e-05 9.99988200e-01 -7.26107084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.73, Y:-37.61, Z:-7.26 [[ 9.91030670e-01 1.33543132e-01 4.94404820e-03 3.03726174e+02] [-1.33541594e-01 9.91043002e-01 -6.41369400e-04 -3.76105009e+01] [-4.98541485e-03 -2.46193306e-05 9.99987572e-01 -7.26202507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.75, Y:-37.61, Z:-7.26 [[ 9.91140175e-01 1.32729142e-01 4.91201578e-03 3.03753638e+02] [-1.32727614e-01 9.91152347e-01 -6.37194931e-04 -3.76140953e+01] [-4.95313031e-03 -2.04106378e-05 9.99987733e-01 -7.26254218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.78, Y:-37.62, Z:-7.26 [[ 9.91180940e-01 1.32405985e-01 5.38512802e-03 3.03782532e+02] [-1.32404147e-01 9.91195568e-01 -6.97880909e-04 -3.76170297e+01] [-5.43011863e-03 -2.12870273e-05 9.99985257e-01 -7.26266841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5742038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.81, Y:-37.62, Z:-7.26 [[ 9.90920644e-01 1.34243924e-01 7.40586589e-03 3.03811592e+02] [-1.34240506e-01 9.90948317e-01 -9.58949688e-04 -3.76170508e+01] [-7.46756351e-03 -4.39241458e-05 9.99972116e-01 -7.26254821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.84, Y:-37.62, Z:-7.26 [[ 9.90442549e-01 1.37734518e-01 7.26351841e-03 3.03839900e+02] [-1.37731326e-01 9.90469181e-01 -9.40364766e-04 -3.76169414e+01] [-7.32381182e-03 -6.90367432e-05 9.99973178e-01 -7.26289614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6342038220001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:303.87, Y:-37.62, Z:-7.26 [[ 9.90140285e-01 1.39913767e-01 6.80839799e-03 3.03868727e+02] [-1.39911017e-01 9.90163689e-01 -8.80909114e-04 -3.76184594e+01] [-6.86467979e-03 -8.03462837e-05 9.99976435e-01 -7.26471701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.90, Y:-37.62, Z:-7.26 [[ 9.89888389e-01 1.41687308e-01 6.75904468e-03 3.03897807e+02] [-1.41684641e-01 9.89911460e-01 -8.74200257e-04 -3.76206779e+01] [-6.81471887e-03 -9.22921339e-05 9.99976775e-01 -7.26472089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:-37.62, Z:-7.27 [[ 9.89680141e-01 1.43160249e-01 6.19373467e-03 3.03926724e+02] [-1.43158040e-01 9.89699517e-01 -8.00867262e-04 -3.76234717e+01] [-6.24458857e-03 -9.40804896e-05 9.99980498e-01 -7.26562026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.95, Y:-37.63, Z:-7.27 [[ 9.89534479e-01 1.44172299e-01 5.98863911e-03 3.03954275e+02] [-1.44170253e-01 9.89552595e-01 -7.74291526e-04 -3.76252802e+01] [-6.03770476e-03 -9.71954507e-05 9.99981768e-01 -7.26658975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.98, Y:-37.62, Z:-7.27 [[ 9.89786847e-01 1.42445617e-01 5.58953012e-03 3.03983330e+02] [-1.42443809e-01 9.89802627e-01 -7.22245149e-04 -3.76243293e+01] [-5.63541225e-03 -8.13252125e-05 9.99984118e-01 -7.26739558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78420382200005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:304.01, Y:-37.63, Z:-7.27 [[ 9.90008818e-01 1.40901408e-01 5.41606508e-03 3.04010945e+02] [-1.40899688e-01 9.90023630e-01 -6.99899890e-04 -3.76263953e+01] [-5.46064930e-03 -7.02148157e-05 9.99985088e-01 -7.27042731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.04, Y:-37.63, Z:-7.27 [[ 9.90339368e-01 1.38569199e-01 5.14912015e-03 3.04039558e+02] [-1.38567615e-01 9.90352752e-01 -6.64785559e-04 -3.76297195e+01] [-5.19156412e-03 -5.51379905e-05 9.99986522e-01 -7.26934964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.07, Y:-37.63, Z:-7.27 [[ 9.90660491e-01 1.36260529e-01 4.98591156e-03 3.04067750e+02] [-1.36259015e-01 9.90673037e-01 -6.43718740e-04 -3.76324152e+01] [-5.02712161e-03 -4.16686762e-05 9.99987363e-01 -7.27006666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:-37.63, Z:-7.27 [[ 9.91231354e-01 1.32038626e-01 5.11896362e-03 3.04096966e+02] [-1.32036976e-01 9.91244572e-01 -6.60298360e-04 -3.76348610e+01] [-5.16132978e-03 -2.13840407e-05 9.99986680e-01 -7.27105513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.13, Y:-37.64, Z:-7.27 [[ 9.91888148e-01 1.26975963e-01 5.91656698e-03 3.04125086e+02] [-1.26973671e-01 9.91905794e-01 -7.62922483e-04 -3.76382417e+01] [-5.96554989e-03 5.48553868e-06 9.99982206e-01 -7.27141647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:-37.64, Z:-7.27 [[ 9.92218045e-01 1.24399906e-01 5.29293720e-03 3.04153944e+02] [-1.24398037e-01 9.92232162e-01 -6.82165735e-04 -3.76412329e+01] [-5.33668388e-03 1.84261550e-05 9.99985760e-01 -7.27139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.18, Y:-37.64, Z:-7.27 [[ 9.92510116e-01 1.22021794e-01 5.86093760e-03 3.04181366e+02] [-1.22019462e-01 9.92527421e-01 -7.55160610e-04 -3.76441975e+01] [-5.90928733e-03 3.43560945e-05 9.99982539e-01 -7.27242646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.21, Y:-37.65, Z:-7.27 [[ 9.93039893e-01 1.17654828e-01 5.39553618e-03 3.04210182e+02] [-1.17652790e-01 9.93054550e-01 -6.94750801e-04 -3.76481443e+01] [-5.43980254e-03 5.51153777e-05 9.99985203e-01 -7.27327318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.24, Y:-37.65, Z:-7.27 [[ 9.93228411e-01 1.16090910e-01 4.49717139e-03 3.04238367e+02] [-1.16089478e-01 9.93238591e-01 -5.79048869e-04 -3.76528465e+01] [-4.53398648e-03 5.30535103e-05 9.99989720e-01 -7.27469627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.27, Y:-37.66, Z:-7.28 [[ 9.93370911e-01 1.14878972e-01 4.12987992e-03 3.04266169e+02] [-1.14877753e-01 9.93379494e-01 -5.31872075e-04 -3.76581972e+01] [-4.16363894e-03 5.39149207e-05 9.99991331e-01 -7.27587692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:-37.66, Z:-7.28 [[ 9.93344084e-01 1.15119771e-01 3.86892436e-03 3.04294109e+02] [-1.15118704e-01 9.93351617e-01 -4.98071076e-04 -3.76617925e+01] [-3.90054010e-03 4.93703986e-05 9.99992392e-01 -7.27648040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.32, Y:-37.66, Z:-7.28 [[ 9.93204707e-01 1.16328934e-01 3.46255494e-03 3.04322569e+02] [-1.16328088e-01 9.93210742e-01 -4.45460998e-04 -3.76648399e+01] [-3.49086677e-03 3.96415645e-05 9.99993906e-01 -7.27724921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.35, Y:-37.67, Z:-7.28 [[ 9.92764523e-01 1.20036059e-01 3.15371057e-03 3.04351384e+02] [-1.20035376e-01 9.92769532e-01 -4.05712331e-04 -3.76674355e+01] [-3.17960787e-03 2.42199769e-05 9.99994945e-01 -7.27747928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.38, Y:-37.67, Z:-7.28 [[ 9.92774220e-01 1.19955834e-01 3.15364884e-03 3.04380476e+02] [-1.19955148e-01 9.92779229e-01 -4.06194013e-04 -3.76710640e+01] [-3.17960240e-03 2.49625297e-05 9.99994945e-01 -7.27815468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.41, Y:-37.67, Z:-7.28 [[ 9.92222118e-01 1.24455393e-01 2.47469643e-03 3.04409049e+02] [-1.24454986e-01 9.92225204e-01 -3.18311244e-04 -3.76749395e+01] [-2.49507173e-03 7.84714550e-06 9.99996887e-01 -7.27851495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23420382200004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:304.44, Y:-37.68, Z:-7.28 [[ 9.91859384e-01 1.27312998e-01 2.52263859e-03 3.04437021e+02] [-1.27312584e-01 9.91862592e-01 -3.24632052e-04 -3.76788291e+01] [-2.54344073e-03 8.25709052e-07 9.99996765e-01 -7.28111355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.47, Y:-37.68, Z:-7.28 [[ 9.91562023e-01 1.29614261e-01 2.21334222e-03 3.04466035e+02] [-1.29613949e-01 9.91564493e-01 -2.84275823e-04 -3.76828734e+01] [-2.23151776e-03 -5.00291640e-06 9.99997510e-01 -7.27998585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.49, Y:-37.69, Z:-7.28 [[ 9.90901349e-01 1.34574868e-01 2.03008996e-03 3.04493345e+02] [-1.34574615e-01 9.90903429e-01 -2.61253072e-04 -3.76855279e+01] [-2.04678120e-03 -1.43225544e-05 9.99997905e-01 -7.28134791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3242038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.52, Y:-37.69, Z:-7.28 [[ 9.90631717e-01 1.36551480e-01 1.57966925e-03 3.04522023e+02] [-1.36551329e-01 9.90632976e-01 -2.03247488e-04 -3.76882876e+01] [-1.59262619e-03 -1.43625275e-05 9.99998732e-01 -7.28221152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.55, Y:-37.69, Z:-7.28 [[ 9.90170676e-01 1.39858857e-01 1.23797567e-03 3.04549793e+02] [-1.39858766e-01 9.90171450e-01 -1.59733921e-04 -3.76901273e+01] [-1.24814836e-03 -1.49779048e-05 9.99999221e-01 -7.28316546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3842038220001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:-37.69, Z:-7.28 [[ 9.90076136e-01 1.40526812e-01 1.20799254e-03 3.04578273e+02] [-1.40526726e-01 9.90076873e-01 -1.55562482e-04 -3.76928575e+01] [-1.21786618e-03 -1.57365367e-05 9.99999258e-01 -7.28338016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.61, Y:-37.70, Z:-7.28 [[ 9.90075616e-01 1.40524506e-01 1.77113419e-03 3.04606100e+02] [-1.40524323e-01 9.90077200e-01 -2.27748472e-04 -3.76951458e+01] [-1.78556382e-03 -2.33992247e-05 9.99998406e-01 -7.28393721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:-37.70, Z:-7.28 [[ 9.90196160e-01 1.39658493e-01 2.65887290e-03 3.04633418e+02] [-1.39658080e-01 9.90199729e-01 -3.41422518e-04 -3.76960158e+01] [-2.68049778e-03 -3.32578173e-05 9.99996407e-01 -7.28444219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:-37.70, Z:-7.29 [[ 9.90309371e-01 1.38847980e-01 2.93059849e-03 3.04661813e+02] [-1.38847477e-01 9.90313706e-01 -3.75593804e-04 -3.76977765e+01] [-2.95436229e-03 -3.49521414e-05 9.99995635e-01 -7.28508964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.69, Y:-37.70, Z:-7.29 [[ 9.90470646e-01 1.37699679e-01 2.58799689e-03 3.04690433e+02] [-1.37699284e-01 9.90474027e-01 -3.31262193e-04 -3.76991475e+01] [-2.60895840e-03 -2.82598396e-05 9.99996596e-01 -7.28559585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.72, Y:-37.70, Z:-7.29 [[ 9.90776533e-01 1.35473770e-01 2.95272792e-03 3.04719347e+02] [-1.35473246e-01 9.90780933e-01 -3.77636286e-04 -3.77000281e+01] [-2.97666633e-03 -2.58624642e-05 9.99995569e-01 -7.28686554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:-37.70, Z:-7.29 [[ 9.90974413e-01 1.33987970e-01 4.11540537e-03 3.04747550e+02] [-1.33986941e-01 9.90982958e-01 -5.25903347e-04 -3.77025795e+01] [-4.14876131e-03 -3.02538175e-05 9.99991393e-01 -7.28760364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.78, Y:-37.70, Z:-7.29 [[ 9.91487453e-01 1.30128308e-01 4.38793416e-03 3.04776365e+02] [-1.30127103e-01 9.91497163e-01 -5.60128151e-04 -3.77033546e+01] [-4.42351280e-03 -1.56291274e-05 9.99990216e-01 -7.28754152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.80, Y:-37.70, Z:-7.29 [[ 9.91786131e-01 1.27823704e-01 4.62288790e-03 3.04803915e+02] [-1.27822342e-01 9.91796905e-01 -5.90051477e-04 -3.77048893e+01] [-4.66038848e-03 -5.70348840e-06 9.99989140e-01 -7.28822468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:-37.71, Z:-7.29 [[ 9.92081285e-01 1.25491469e-01 5.15897197e-03 3.04832735e+02] [-1.25489745e-01 9.92094699e-01 -6.57775163e-04 -3.77072229e+01] [-5.20073391e-03 5.16835092e-06 9.99986476e-01 -7.28860883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.86, Y:-37.71, Z:-7.29 [[ 9.92625635e-01 1.21022423e-01 6.92262865e-03 3.04860987e+02] [-1.21019214e-01 9.92649773e-01 -8.82107695e-04 -3.77071029e+01] [-6.97850057e-03 3.78316347e-05 9.99975649e-01 -7.28888904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.89, Y:-37.71, Z:-7.29 [[ 9.92883112e-01 1.18897294e-01 6.82349436e-03 3.04889889e+02] [-1.18894130e-01 9.92906557e-01 -8.68849896e-04 -3.77089412e+01] [-6.87839620e-03 5.13929626e-05 9.99976342e-01 -7.28940369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:-37.71, Z:-7.29 [[ 9.93412236e-01 1.14433361e-01 6.09393249e-03 3.04918020e+02] [-1.14430755e-01 9.93430924e-01 -7.75775007e-04 -3.77135103e+01] [-6.14267552e-03 7.33310870e-05 9.99981131e-01 -7.29100586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.95, Y:-37.72, Z:-7.29 [[ 9.93582037e-01 1.12934791e-01 6.36147240e-03 3.04946832e+02] [-1.12931922e-01 9.93602398e-01 -8.09485755e-04 -3.77184649e+01] [-6.41219334e-03 8.58771992e-05 9.99979438e-01 -7.29337596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80420382200003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:304.98, Y:-37.72, Z:-7.29 [[ 9.93924860e-01 1.09920440e-01 5.55603495e-03 3.04976028e+02] [-1.09918205e-01 9.93940385e-01 -7.06911467e-04 -3.77203710e+01] [-5.60007154e-03 9.19074904e-05 9.99984315e-01 -7.29367904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:-37.72, Z:-7.29 [[ 9.94063309e-01 1.08657893e-01 5.62146803e-03 3.05003582e+02] [-1.08655586e-01 9.94079198e-01 -7.15153303e-04 -3.77223687e+01] [-5.66589148e-03 1.00103757e-04 9.99983944e-01 -7.29274497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:-37.73, Z:-7.29 [[ 9.94151160e-01 1.07824835e-01 6.10534106e-03 3.05031765e+02] [-1.07822102e-01 9.94169901e-01 -7.76016153e-04 -3.77259486e+01] [-6.15342013e-03 1.13186656e-04 9.99981061e-01 -7.29320950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.06, Y:-37.73, Z:-7.29 [[ 9.94322397e-01 1.06159984e-01 7.28213811e-03 3.05058795e+02] [-1.06156054e-01 9.94349052e-01 -9.25203669e-04 -3.77322721e+01] [-7.33920673e-03 1.46907686e-04 9.99973057e-01 -7.29401506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92420382200004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:305.09, Y:-37.74, Z:-7.30 [[ 9.94345238e-01 1.05998371e-01 6.47253772e-03 3.05087108e+02] [-1.05995266e-01 9.94366295e-01 -8.21886056e-04 -3.77370603e+01] [-6.52319193e-03 1.31180131e-04 9.99978715e-01 -7.29611049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:-37.74, Z:-7.30 [[ 9.94496135e-01 1.04607517e-01 5.89100331e-03 3.05115233e+02] [-1.04604921e-01 9.94513575e-01 -7.47853422e-04 -3.77435882e+01] [-5.93691386e-03 1.27509399e-04 9.99982368e-01 -7.29600704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:-37.75, Z:-7.30 [[ 9.94540596e-01 1.04137687e-01 6.65916097e-03 3.05142790e+02] [-1.04134362e-01 9.94562879e-01 -8.45085514e-04 -3.77498729e+01] [-6.71095956e-03 1.47024374e-04 9.99977470e-01 -7.29671389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.17, Y:-37.76, Z:-7.30 [[ 9.94577311e-01 1.03723156e-01 7.58155215e-03 3.05171262e+02] [-1.03718840e-01 9.94606193e-01 -9.61297199e-04 -3.77556938e+01] [-7.64036749e-03 1.69734591e-04 9.99970798e-01 -7.29722582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04420382200004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:305.20, Y:-37.76, Z:-7.30 [[ 9.94702803e-01 1.02491885e-01 7.85794842e-03 3.05199343e+02] [-1.02487216e-01 9.94733823e-01 -9.95727805e-04 -3.77618175e+01] [-7.91862110e-03 1.85113985e-04 9.99968630e-01 -7.29799568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0742038220001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:305.23, Y:-37.77, Z:-7.30 [[ 9.94720998e-01 1.02340820e-01 7.51616520e-03 3.05228591e+02] [-1.02336546e-01 9.94749378e-01 -9.51998835e-04 -3.77676832e+01] [-7.57412900e-03 1.77794844e-04 9.99971300e-01 -7.29985855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10420382200004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.26, Y:-37.78, Z:-7.30 [[ 9.94922820e-01 1.00354105e-01 7.59189279e-03 3.05255767e+02] [-1.00349688e-01 9.94951766e-01 -9.61428593e-04 -3.77776606e+01] [-7.65005045e-03 1.94703173e-04 9.99970719e-01 -7.30005729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1342038220001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:305.28, Y:-37.79, Z:-7.30 [[ 9.94967439e-01 9.99664562e-02 6.81923986e-03 3.05284412e+02] [-9.99628849e-02 9.94990792e-01 -8.63418009e-04 -3.77850411e+01] [-6.87139371e-03 1.77401916e-04 9.99976376e-01 -7.30236002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.31, Y:-37.79, Z:-7.30 [[ 9.95116670e-01 9.85384407e-02 5.74359643e-03 3.05313567e+02] [-9.85358849e-02 9.95133233e-01 -7.26966287e-04 -3.77935197e+01] [-5.78727781e-03 1.57465914e-04 9.99983241e-01 -7.30157853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:-37.80, Z:-7.30 [[ 9.95116478e-01 9.85637467e-02 5.32763058e-03 3.05342178e+02] [-9.85615472e-02 9.95130728e-01 -6.74480820e-04 -3.77997635e+01] [-5.36816826e-03 1.46087465e-04 9.99985581e-01 -7.30221010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22420382200005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:-37.81, Z:-7.30 [[ 9.94956789e-01 1.00182008e-01 4.95516769e-03 3.05370421e+02] [-1.00180126e-01 9.94969120e-01 -6.27288784e-04 -3.78086298e+01] [-4.99308188e-03 1.27715913e-04 9.99987526e-01 -7.30300914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254203822 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:305.40, Y:-37.81, Z:-7.30 [[ 9.94824406e-01 1.01480750e-01 5.10466989e-03 3.05398205e+02] [-1.01478769e-01 9.94837495e-01 -6.46228845e-04 -3.78140848e+01] [-5.14389680e-03 1.24868608e-04 9.99986762e-01 -7.30400460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28420382200005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:305.43, Y:-37.82, Z:-7.31 [[ 9.94594711e-01 1.03714282e-01 4.97077296e-03 3.05427260e+02] [-1.03712434e-01 9.94607126e-01 -6.28907558e-04 -3.78200208e+01] [-5.00919291e-03 1.09977170e-04 9.99987448e-01 -7.30609417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314203822 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.46, Y:-37.83, Z:-7.31 [[ 9.94317520e-01 1.06357859e-01 4.54701310e-03 3.05456398e+02] [-1.06356340e-01 9.94327913e-01 -5.75256942e-04 -3.78268082e+01] [-4.58240514e-03 8.83843842e-05 9.99989497e-01 -7.30517422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34420382200005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:305.48, Y:-37.83, Z:-7.31 [[ 9.94090905e-01 1.08440034e-01 4.90211279e-03 3.05484314e+02] [-1.08438294e-01 9.94102989e-01 -6.20236568e-04 -3.78329928e+01] [-4.94046345e-03 8.49947861e-05 9.99987792e-01 -7.30709327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374203822 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.51, Y:-37.84, Z:-7.31 [[ 9.93880693e-01 1.10364723e-01 4.56021058e-03 3.05512516e+02] [-1.10363238e-01 9.93891152e-01 -5.76823283e-04 -3.78408162e+01] [-4.59601389e-03 7.00139175e-05 9.99989436e-01 -7.30668804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.54, Y:-37.85, Z:-7.31 [[ 9.93780759e-01 1.11288393e-01 3.83364797e-03 3.05542051e+02] [-1.11287351e-01 9.93788152e-01 -4.84722466e-04 -3.78468901e+01] [-3.86377792e-03 5.50713318e-05 9.99992534e-01 -7.30735335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43420382200003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:305.57, Y:-37.85, Z:-7.31 [[ 9.93714955e-01 1.11882781e-01 3.58222333e-03 3.05570474e+02] [-1.11881874e-01 9.93721410e-01 -4.53117235e-04 -3.78529686e+01] [-3.61042804e-03 4.94835113e-05 9.99993481e-01 -7.30854377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46420382200006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.60, Y:-37.86, Z:-7.31 [[ 9.93704739e-01 1.11955698e-01 4.10035279e-03 3.05599047e+02] [-1.11954513e-01 9.93713197e-01 -5.18116500e-04 -3.78627875e+01] [-4.13258077e-03 5.58018231e-05 9.99991459e-01 -7.30946412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49420382200003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.63, Y:-37.87, Z:-7.31 [[ 9.93750574e-01 1.11547228e-01 4.12454929e-03 3.05628824e+02] [-1.11546027e-01 9.93759132e-01 -5.20646212e-04 -3.78701079e+01] [-4.15688517e-03 5.73153845e-05 9.99991358e-01 -7.30994851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382200006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.66, Y:-37.88, Z:-7.31 [[ 9.93838341e-01 1.10785960e-01 3.43841632e-03 3.05658425e+02] [-1.10785122e-01 9.93844288e-01 -4.33797283e-04 -3.78800195e+01] [-3.46530907e-03 5.01989998e-05 9.99993995e-01 -7.30980858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55420382200003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:305.69, Y:-37.89, Z:-7.31 [[ 9.93787063e-01 1.11242977e-01 3.50328075e-03 3.05689357e+02] [-1.11242111e-01 9.93793237e-01 -4.41782751e-04 -3.78867131e+01] [-3.53068195e-03 4.93256359e-05 9.99993766e-01 -7.31148121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382200006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:305.72, Y:-37.89, Z:-7.31 [[ 9.93770387e-01 1.11362209e-01 4.34473412e-03 3.05720151e+02] [-1.11360876e-01 9.93779882e-01 -5.48138924e-04 -3.78926726e+01] [-4.37875132e-03 6.08908320e-05 9.99990411e-01 -7.31154404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61420382200004 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:305.75, Y:-37.90, Z:-7.31 [[ 9.93593146e-01 1.12823535e-01 6.59622517e-03 3.05749617e+02] [-1.12820492e-01 9.93615038e-01 -8.32856361e-04 -3.79007975e+01] [-6.64807432e-03 8.33310033e-05 9.99977898e-01 -7.31000169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382200007 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:305.78, Y:-37.91, Z:-7.31 [[ 9.93400127e-01 1.14439760e-01 7.72847722e-03 3.05781338e+02] [-1.14435650e-01 9.93430186e-01 -9.73477559e-04 -3.79086167e+01] [-7.78910710e-03 8.26394196e-05 9.99969661e-01 -7.31030993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67420382200004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:305.81, Y:-37.92, Z:-7.31 [[ 9.92941441e-01 1.18205770e-01 9.73089103e-03 3.05811985e+02] [-1.18199409e-01 9.92989119e-01 -1.22831282e-03 -3.79189063e+01] [-9.80786258e-03 6.94571329e-05 9.99951899e-01 -7.30959775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382200007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.84, Y:-37.92, Z:-7.31 [[ 9.92667474e-01 1.20386629e-01 1.08786506e-02 3.05843972e+02] [-1.20378780e-01 9.92727081e-01 -1.37580694e-03 -3.79241729e+01] [-1.09651598e-02 5.61601131e-05 9.99939879e-01 -7.30984895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73420382200004 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:305.88, Y:-37.93, Z:-7.31 [[ 9.92394508e-01 1.22535822e-01 1.17521533e-02 3.05875749e+02] [-1.22526782e-01 9.92464091e-01 -1.48883578e-03 -3.79289200e+01] [-1.18460259e-02 3.75589210e-05 9.99929833e-01 -7.31049059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382200007 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:305.91, Y:-37.94, Z:-7.31 [[ 9.91892075e-01 1.26649336e-01 1.04907728e-02 3.05907579e+02] [-1.26642351e-01 9.91947552e-01 -1.33024649e-03 -3.79365781e+01] [-1.05747712e-02 -9.11517521e-06 9.99944086e-01 -7.31185579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79420382200004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:305.94, Y:-37.94, Z:-7.31 [[ 9.91643954e-01 1.28659929e-01 9.42818204e-03 3.05940609e+02] [-1.28654364e-01 9.91688773e-01 -1.19689963e-03 -3.79420970e+01] [-9.50381530e-03 -2.60784841e-05 9.99954837e-01 -7.31301031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8242038220001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:305.97, Y:-37.95, Z:-7.32 [[ 9.91233596e-01 1.31899860e-01 7.64106063e-03 3.05973119e+02] [-1.31896296e-01 9.91263045e-01 -9.70692833e-04 -3.79472001e+01] [-7.70233528e-03 -4.56442520e-05 9.99970336e-01 -7.31544843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85420382200004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:306.00, Y:-37.95, Z:-7.32 [[ 9.91042880e-01 1.33391495e-01 6.38118484e-03 3.06004731e+02] [-1.33389035e-01 9.91063422e-01 -8.11399311e-04 -3.79527669e+01] [-6.43239266e-03 -4.70485788e-05 9.99979311e-01 -7.31633153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8842038220001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:306.04, Y:-37.96, Z:-7.32 [[ 9.90816914e-01 1.35081804e-01 5.89489212e-03 3.06035695e+02] [-1.35079728e-01 9.90834448e-01 -7.50776109e-04 -3.79581259e+01] [-5.94227838e-03 -5.23987561e-05 9.99982343e-01 -7.31732237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91420382200005 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:306.07, Y:-37.96, Z:-7.32 [[ 9.90234562e-01 1.39297915e-01 5.62168180e-03 3.06067147e+02] [-1.39296077e-01 9.90250517e-01 -7.19038958e-04 -3.79616844e+01] [-5.66703394e-03 -7.10609966e-05 9.99983940e-01 -7.31778273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944203822 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:306.10, Y:-37.96, Z:-7.32 [[ 9.89936745e-01 1.41403528e-01 5.50294721e-03 3.06097996e+02] [-1.41401799e-01 9.89952037e-01 -7.03978539e-04 -3.79647284e+01] [-5.54719885e-03 -8.12324100e-05 9.99984611e-01 -7.31806004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97420382200005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:306.13, Y:-37.97, Z:-7.32 [[ 9.89441261e-01 1.44795198e-01 6.35148879e-03 3.06127751e+02] [-1.44792961e-01 9.89461640e-01 -8.12980520e-04 -3.79682760e+01] [-6.40227020e-03 -1.15254400e-04 9.99979499e-01 -7.31866774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004203822 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:306.16, Y:-37.97, Z:-7.32 [[ 9.89297508e-01 1.45748910e-01 6.90624517e-03 3.06157847e+02] [-1.45746287e-01 9.89321605e-01 -8.84293197e-04 -3.79715045e+01] [-6.96138233e-03 -1.31730533e-04 9.99975761e-01 -7.31944935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03420382200005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:306.19, Y:-37.97, Z:-7.32 [[ 9.89223283e-01 1.46253197e-01 6.87743334e-03 3.06188221e+02] [-1.46250608e-01 9.89247181e-01 -8.80604056e-04 -3.79744190e+01] [-6.93227270e-03 -1.34714774e-04 9.99975962e-01 -7.32034705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064203822 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:306.22, Y:-37.98, Z:-7.32 [[ 9.89283164e-01 1.45864158e-01 6.51680283e-03 3.06218753e+02] [-1.45861828e-01 9.89304620e-01 -8.34028954e-04 -3.79786655e+01] [-6.56875808e-03 -1.25461970e-04 9.99978418e-01 -7.32193905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09420382200005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:306.25, Y:-37.98, Z:-7.32 [[ 9.89281414e-01 1.45876032e-01 6.51675755e-03 3.06249493e+02] [-1.45873700e-01 9.89302869e-01 -8.34382478e-04 -3.79826074e+01] [-6.56876335e-03 -1.25184457e-04 9.99978418e-01 -7.32265305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124203822 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:306.28, Y:-37.99, Z:-7.32 [[ 9.89356799e-01 1.45364718e-01 6.49789057e-03 3.06280566e+02] [-1.45362388e-01 9.89378130e-01 -8.31840534e-04 -3.79859765e+01] [-6.54979109e-03 -1.21561804e-04 9.99978542e-01 -7.32361822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15420382200006 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:306.31, Y:-37.99, Z:-7.32 [[ 9.89447228e-01 1.44771823e-01 5.94156499e-03 3.06311116e+02] [-1.44769863e-01 9.89465061e-01 -7.60930156e-04 -3.79858926e+01] [-5.98913221e-03 -1.07259319e-04 9.99982059e-01 -7.32485219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18420382200003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:306.34, Y:-37.99, Z:-7.33 [[ 9.89453776e-01 1.44743208e-01 5.53438653e-03 3.06340296e+02] [-1.44741504e-01 9.89469249e-01 -7.09250975e-04 -3.79878562e+01] [-5.57876454e-03 -9.92843741e-05 9.99984434e-01 -7.32594295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21420382200006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:306.37, Y:-37.99, Z:-7.33 [[ 9.89248261e-01 1.46120176e-01 6.06397939e-03 3.06370854e+02] [-1.46118158e-01 9.89266840e-01 -7.76821493e-04 -3.79887195e+01] [-6.11240302e-03 -1.17588188e-04 9.99981312e-01 -7.32653307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24420382200003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:306.40, Y:-37.99, Z:-7.33 [[ 9.89079929e-01 1.47230618e-01 6.63619557e-03 3.06400646e+02] [-1.47228225e-01 9.89102182e-01 -8.50317336e-04 -3.79907240e+01] [-6.68906827e-03 -1.36003488e-04 9.99977619e-01 -7.32677327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27420382200006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:306.43, Y:-37.99, Z:-7.33 [[ 9.88954672e-01 1.48037118e-01 7.32592443e-03 3.06431463e+02] [-1.48034226e-01 9.88981793e-01 -9.38394971e-04 -3.79927201e+01] [-7.38412317e-03 -1.56457463e-04 9.99972725e-01 -7.32706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30420382200003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:306.46, Y:-37.99, Z:-7.33 [[ 9.88925495e-01 1.48157683e-01 8.69865220e-03 3.06461175e+02] [-1.48153609e-01 9.88963734e-01 -1.11440431e-03 -3.79946296e+01] [-8.76775912e-03 -1.86673881e-04 9.99961545e-01 -7.32789614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33420382200006 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:306.49, Y:-38.00, Z:-7.33 [[ 9.89049646e-01 1.47325488e-01 8.71767172e-03 3.06491938e+02] [-1.47321367e-01 9.89088049e-01 -1.11656029e-03 -3.79978777e+01] [-8.78704270e-03 -1.79965753e-04 9.99961377e-01 -7.32869864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36420382200004 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:306.52, Y:-38.00, Z:-7.33 [[ 9.89598614e-01 1.43616806e-01 8.29437975e-03 3.06522262e+02] [-1.43612945e-01 9.89633363e-01 -1.06234501e-03 -3.79977564e+01] [-8.36096552e-03 -1.39885150e-04 9.99965037e-01 -7.33052836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39420382200007 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:306.55, Y:-38.00, Z:-7.33 [[ 9.89892485e-01 1.41600712e-01 7.88082649e-03 3.06552610e+02] [-1.41597162e-01 9.89923848e-01 -1.00937707e-03 -3.80009718e+01] [-7.94434660e-03 -1.16727896e-04 9.99968436e-01 -7.33237735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42420382200004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:306.58, Y:-38.01, Z:-7.33 [[ 9.90174311e-01 1.39641494e-01 7.42209692e-03 3.06582030e+02] [-1.39638290e-01 9.90202123e-01 -9.50812679e-04 -3.80052868e+01] [-7.48214903e-03 -9.49386301e-05 9.99972004e-01 -7.33335177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45420382200007 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:306.61, Y:-38.01, Z:-7.33 [[ 9.90365543e-01 1.38281019e-01 7.37916842e-03 3.06611675e+02] [-1.38277814e-01 9.90393029e-01 -9.45220543e-04 -3.80092802e+01] [-7.43898303e-03 -8.42614198e-05 9.99972327e-01 -7.33397534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48420382200004 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:306.64, Y:-38.01, Z:-7.34 [[ 9.90378849e-01 1.38286072e-01 5.16698223e-03 3.06643016e+02] [-1.38236705e-01 9.90358959e-01 -8.93007097e-03 -3.80064626e+01] [-6.35207159e-03 8.12988681e-03 9.99946777e-01 -7.33850879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51420382200007 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:306.67, Y:-38.02, Z:-7.34 [[ 9.90331598e-01 1.38462658e-01 8.45089338e-03 3.06670692e+02] [-1.38524500e-01 9.90332613e-01 7.23040629e-03 -3.80190658e+01] [-7.36805405e-03 -8.33115560e-03 9.99938150e-01 -7.33535160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54420382200004 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:306.70, Y:-38.02, Z:-7.34 [[ 9.89726826e-01 1.42758625e-01 7.79643688e-03 3.06700582e+02] [-1.42755180e-01 9.89757526e-01 -9.99413446e-04 -3.80171752e+01] [-7.85925697e-03 -1.23835454e-04 9.99969108e-01 -7.33744275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5742038220001 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:306.73, Y:-38.02, Z:-7.34 [[ 9.89362120e-01 1.45239274e-01 8.25527521e-03 3.06731131e+02] [-1.45235501e-01 9.89396548e-01 -1.05794276e-03 -3.80189379e+01] [-8.32139564e-03 -1.52270538e-04 9.99965365e-01 -7.33793969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60420382200004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:306.76, Y:-38.02, Z:-7.34 [[ 9.88996088e-01 1.47695675e-01 8.52796039e-03 3.06761314e+02] [-1.47691737e-01 9.89032839e-01 -1.09324057e-03 -3.80200808e+01] [-8.59589978e-03 -1.78298638e-04 9.99963039e-01 -7.33904137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6342038220001 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:306.79, Y:-38.02, Z:-7.34 [[ 9.88704903e-01 1.49581275e-01 9.38383186e-03 3.06790059e+02] [-1.49576592e-01 9.88749410e-01 -1.20283274e-03 -3.80211085e+01] [-9.45817947e-03 -2.14354963e-04 9.99955247e-01 -7.33926622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66420382200005 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:306.82, Y:-38.02, Z:-7.34 [[ 9.88325544e-01 1.52060587e-01 9.49718296e-03 3.06819025e+02] [-1.52055906e-01 9.88371145e-01 -1.21717015e-03 -3.80212320e+01] [-9.57182520e-03 -2.41142411e-04 9.99954160e-01 -7.34101758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694203822 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:306.85, Y:-38.02, Z:-7.34 [[ 9.88367005e-01 1.51780518e-01 9.66116623e-03 3.06848227e+02] [-1.51775668e-01 9.88414192e-01 -1.23752736e-03 -3.80200092e+01] [-9.73706636e-03 -2.43198748e-04 9.99952564e-01 -7.34194700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72420382200005 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:306.88, Y:-38.02, Z:-7.35 [[ 9.88537349e-01 1.50831883e-01 6.60700367e-03 3.06878823e+02] [-1.50755925e-01 9.88512136e-01 -1.07892480e-02 -3.80153613e+01] [-8.15846590e-03 9.66952965e-03 9.99919967e-01 -7.34583307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754203822 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:306.90, Y:-38.03, Z:-7.34 [[ 9.88764019e-01 1.49001921e-01 1.20059104e-02 3.06904708e+02] [-1.49106942e-01 9.88785549e-01 8.38196749e-03 -3.80286591e+01] [-1.06223414e-02 -1.00779525e-02 9.99892795e-01 -7.34349616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78420382200005 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:306.94, Y:-38.02, Z:-7.35 [[ 9.89091483e-01 1.47097226e-01 7.77464710e-03 3.06937009e+02] [-1.46935806e-01 9.88975843e-01 -1.83480550e-02 -3.80160334e+01] [-1.03878862e-02 1.70055309e-02 9.99801432e-01 -7.35010543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:306.96, Y:-38.04, Z:-7.34 [[ 9.90079621e-01 1.39728442e-01 1.47751873e-02 3.06963300e+02] [-1.39954566e-01 9.90035507e-01 1.55696928e-02 -3.80380135e+01] [-1.24524311e-02 -1.74830905e-02 9.99769613e-01 -7.34404673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84420382200005 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:306.99, Y:-38.03, Z:-7.35 [[ 9.90589296e-01 1.36382915e-01 1.15129323e-02 3.06994970e+02] [-1.36374998e-01 9.90656191e-01 -1.47360689e-03 -3.80319025e+01] [-1.16063325e-02 -1.10336908e-04 9.99932638e-01 -7.34549920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874203822 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:307.03, Y:-38.04, Z:-7.35 [[ 9.91794289e-01 1.27189270e-01 1.29219797e-02 3.07025682e+02] [-1.27178519e-01 9.91878465e-01 -1.65371750e-03 -3.80370904e+01] [-1.30273685e-02 -3.25066478e-06 9.99915140e-01 -7.34625683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90420382200006 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:307.06, Y:-38.04, Z:-7.35 [[ 9.92328916e-01 1.22713699e-01 1.49890481e-02 3.07056553e+02] [-1.22698715e-01 9.92442111e-01 -1.91870859e-03 -3.80408767e+01] [-1.51112143e-02 6.48530869e-05 9.99885817e-01 -7.34776284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93420382200003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:307.09, Y:-38.05, Z:-7.35 [[ 9.92801377e-01 1.18852455e-01 1.48161804e-02 3.07088652e+02] [-1.18837398e-01 9.92911919e-01 -1.89566048e-03 -3.80458498e+01] [-1.49364660e-02 1.21298008e-04 9.99888437e-01 -7.34915871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96420382200006 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:307.12, Y:-38.05, Z:-7.35 [[ 9.93453795e-01 1.13084690e-01 1.61681811e-02 3.07120631e+02] [-1.13065941e-01 9.93585326e-01 -2.07200987e-03 -3.80546922e+01] [-1.62987801e-02 2.30375466e-04 9.99867140e-01 -7.35064633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99420382200003 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:307.15, Y:-38.06, Z:-7.35 [[ 9.93634237e-01 1.11414287e-01 1.66691092e-02 3.07152927e+02] [-1.11394066e-01 9.93774011e-01 -2.13962385e-03 -3.80615630e+01] [-1.68037122e-02 2.69163663e-04 9.99858771e-01 -7.35090676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382200006 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:307.18, Y:-38.07, Z:-7.35 [[ 9.93779716e-01 1.10022108e-01 1.72340582e-02 3.07184852e+02] [-1.10000212e-01 9.93929093e-01 -2.21625522e-03 -3.80693213e+01] [-1.73732689e-02 3.06719436e-04 9.99849026e-01 -7.35216640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05420382200003 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:307.22, Y:-38.08, Z:-7.35 [[ 9.93803771e-01 1.09886593e-01 1.67033492e-02 3.07217613e+02] [-1.09865993e-01 9.93944086e-01 -2.14871717e-03 -3.80752601e+01] [-1.68383104e-02 3.00273167e-04 9.99858181e-01 -7.35338436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382200006 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:307.25, Y:-38.08, Z:-7.35 [[ 9.93760793e-01 1.10569960e-01 1.46209124e-02 3.07248354e+02] [-1.10554215e-01 9.93868311e-01 -1.88325218e-03 -3.80835019e+01] [-1.47394926e-02 2.55098689e-04 9.99891335e-01 -7.35456151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11420382200004 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:307.28, Y:-38.09, Z:-7.36 [[ 9.93658635e-01 1.11413122e-01 1.51536876e-02 3.07280957e+02] [-1.11396264e-01 9.93774145e-01 -1.95468852e-03 -3.80896067e+01] [-1.52771209e-02 2.54228941e-04 9.99883266e-01 -7.35635972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382200007 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:307.31, Y:-38.10, Z:-7.36 [[ 9.93557305e-01 1.12103358e-01 1.66348702e-02 3.07312438e+02] [-1.12083068e-01 9.93696515e-01 -2.15002107e-03 -3.80950878e+01] [-1.67710371e-02 2.71681852e-04 9.99859319e-01 -7.35809769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17420382200004 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:307.34, Y:-38.10, Z:-7.36 [[ 9.93119780e-01 1.15968426e-01 1.62612207e-02 3.07344783e+02] [-1.15949530e-01 9.93252880e-01 -2.10324255e-03 -3.81048675e+01] [-1.63954140e-02 2.03290875e-04 9.99865565e-01 -7.35993451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382200007 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:307.38, Y:-38.11, Z:-7.36 [[ 9.92742006e-01 1.19422821e-01 1.41950491e-02 3.07376153e+02] [-1.19408742e-01 9.92843479e-01 -1.83831808e-03 -3.81111622e+01] [-1.43129991e-02 1.29962621e-04 9.99897555e-01 -7.35992739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23420382200004 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:307.41, Y:-38.12, Z:-7.36 [[ 9.91791789e-01 1.26858260e-01 1.60008897e-02 3.07407246e+02] [-1.26841281e-01 9.91920854e-01 -2.07567475e-03 -3.81160653e+01] [-1.61349327e-02 2.90638123e-05 9.99869823e-01 -7.36280782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382200007 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:307.45, Y:-38.07, Z:-7.39 [[ 9.91178477e-01 1.32271474e-01 8.33568838e-03 3.07453317e+02] [-1.31108490e-01 9.87776672e-01 -8.43078285e-02 -3.80738588e+01] [-1.93853193e-02 8.24712255e-02 9.96404891e-01 -7.38688963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29420382200004 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:307.46, Y:-38.17, Z:-7.36 [[ 9.90725141e-01 1.32898446e-01 2.83142881e-02 3.07464439e+02] [-1.34775843e-01 9.87619756e-01 8.02663648e-02 -3.81748881e+01] [-1.72964752e-02 -8.33379876e-02 9.96371222e-01 -7.35934305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3242038220001 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:307.54, Y:-38.03, Z:-7.36 [[ 9.89893222e-01 1.41476483e-01 -9.78844190e-03 3.07536841e+02] [-1.41001329e-01 9.74486594e-01 -1.74626752e-01 -3.80307312e+01] [-1.51668733e-02 1.74242021e-01 9.84586047e-01 -7.36018827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35420382200004 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:307.56, Y:-38.15, Z:-7.37 [[ 9.89106578e-01 1.45762946e-01 2.05265763e-02 3.07561480e+02] [-1.45905434e-01 9.89282601e-01 5.61603233e-03 -3.81493690e+01] [-1.94879753e-02 -8.54979353e-03 9.99773534e-01 -7.36959610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3842038220001 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:307.59, Y:-38.15, Z:-7.36 [[ 9.88955060e-01 1.46689326e-01 2.12163095e-02 3.07589787e+02] [-1.46625098e-01 9.89181623e-01 -4.56032971e-03 -3.81456759e+01] [-2.16557352e-02 1.39911767e-03 9.99764508e-01 -7.36242472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41420382200005 meters Centerline goodness : 0.985723 Centerline is valid? [True, True] Translation: X:307.58, Y:-38.22, Z:-7.39 [[ 9.88570602e-01 1.42235940e-01 4.99710117e-02 3.07584058e+02] [-1.47422469e-01 9.81390531e-01 1.23041625e-01 -3.82221977e+01] [-3.15401366e-02 -1.29002183e-01 9.91142602e-01 -7.39191939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444203822 meters Centerline goodness : 0.984178 Centerline is valid? [True, True] Translation: X:307.62, Y:-38.15, Z:-7.40 [[ 9.88430187e-01 1.48283699e-01 3.19015727e-02 3.07624973e+02] [-1.48124470e-01 9.88941702e-01 -7.31110501e-03 -3.81482175e+01] [-3.26329132e-02 2.50111334e-03 9.99464275e-01 -7.40332806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47420382200005 meters Centerline goodness : 0.087846 Centerline is valid? [True, False] Translation: X:307.59, Y:-38.14, Z:-7.40 [[ 9.88809033e-01 1.46253054e-01 2.94404643e-02 3.07586231e+02] [-1.46010573e-01 9.89230075e-01 -1.02357616e-02 -3.81392238e+01] [-3.06204041e-02 5.82259450e-03 9.99514126e-01 -7.40413289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504203822 meters Centerline goodness : 0.979460 Centerline is valid? [False, True] Translation: X:307.59, Y:-38.15, Z:-7.41 [[ 9.89502792e-01 1.40613146e-01 3.33491718e-02 3.07589637e+02] [-1.40825427e-01 9.90025984e-01 4.09262795e-03 -3.81468029e+01] [-3.24410693e-02 -8.74607816e-03 9.99435382e-01 -7.40912330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53420382200005 meters Centerline goodness : 0.978312 Centerline is valid? [True, True] Translation: X:307.62, Y:-38.15, Z:-7.41 [[ 9.89862259e-01 1.38460708e-01 3.16439775e-02 3.07621868e+02] [-1.38502795e-01 9.90361662e-01 -8.68640029e-04 -3.81478468e+01] [-3.14592546e-02 -3.52294536e-03 9.99498826e-01 -7.40791617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564203822 meters Centerline goodness : 0.084772 Centerline is valid? [True, False] Translation: X:307.58, Y:-38.14, Z:-7.41 [[ 9.90885398e-01 1.31118211e-01 3.08891842e-02 3.07577478e+02] [-1.30908712e-01 9.91356090e-01 -8.71845331e-03 -3.81383701e+01] [-3.17653289e-02 4.59532475e-03 9.99484791e-01 -7.40751806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59420382200005 meters Centerline goodness : 0.093440 Centerline is valid? [False, False] Translation: X:307.58, Y:-38.14, Z:-7.41 [[ 9.91452912e-01 1.26859485e-01 3.04597327e-02 3.07577717e+02] [-1.26505835e-01 9.91877000e-01 -1.32774078e-02 -3.81369543e+01] [-3.18966734e-02 9.31059070e-03 9.99447805e-01 -7.40828724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624203822 meters Centerline goodness : 0.099697 Centerline is valid? [False, False] Translation: X:307.56, Y:-38.14, Z:-7.41 [[ 9.92072108e-01 1.22225453e-01 2.92210705e-02 3.07555909e+02] [-1.22116513e-01 9.92500584e-01 -5.49080199e-03 -3.81389731e+01] [-2.96730453e-02 1.87889627e-03 9.99557892e-01 -7.40703897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65420382200006 meters Centerline goodness : 0.102415 Centerline is valid? [False, False] Translation: X:307.57, Y:-38.15, Z:-7.41 [[ 9.92376599e-01 1.18605402e-01 3.34879683e-02 3.07567453e+02] [-1.18840904e-01 9.92900084e-01 5.12478445e-03 -3.81489942e+01] [-3.26423794e-02 -9.06545658e-03 9.99425982e-01 -7.40813556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68420382200003 meters Centerline goodness : 0.111472 Centerline is valid? [False, False] Translation: X:307.53, Y:-38.15, Z:-7.41 [[ 9.93392271e-01 1.09196016e-01 3.53274098e-02 3.07526432e+02] [-1.09792602e-01 9.93835102e-01 1.54069554e-02 -3.81535272e+01] [-3.34272418e-02 -1.91838387e-02 9.99257024e-01 -7.40992198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71420382200006 meters Centerline goodness : 0.111013 Centerline is valid? [False, False] Translation: X:307.53, Y:-38.15, Z:-7.41 [[ 9.94259240e-01 1.01378289e-01 3.42199611e-02 3.07528276e+02] [-1.01638290e-01 9.94803678e-01 5.94139437e-03 -3.81479036e+01] [-3.34398148e-02 -9.38534460e-03 9.99396665e-01 -7.41065243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74420382200003 meters Centerline goodness : 0.111295 Centerline is valid? [False, False] Translation: X:307.53, Y:-38.15, Z:-7.41 [[ 9.94227908e-01 1.01534569e-01 3.46640826e-02 3.07526907e+02] [-1.01824481e-01 9.94779827e-01 6.69858169e-03 -3.81514138e+01] [-3.38029925e-02 -1.01895691e-02 9.99376571e-01 -7.41113278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77420382200006 meters Centerline goodness : 0.112335 Centerline is valid? [False, False] Translation: X:307.52, Y:-38.15, Z:-7.41 [[ 9.94521035e-01 9.83490629e-02 3.54312485e-02 3.07524335e+02] [-9.85039532e-02 9.95133135e-01 2.64856939e-03 -3.81514023e+01] [-3.49983251e-02 -6.12417602e-03 9.99368607e-01 -7.41152685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80420382200003 meters Centerline goodness : 0.116453 Centerline is valid? [False, False] Translation: X:307.52, Y:-38.16, Z:-7.41 [[ 9.94087074e-01 1.02392289e-01 3.61484353e-02 3.07523066e+02] [-1.02769362e-01 9.94666927e-01 8.72710426e-03 -3.81605016e+01] [-3.50620649e-02 -1.23904532e-02 9.99308325e-01 -7.41242042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83420382200006 meters Centerline goodness : 0.112150 Centerline is valid? [False, False] Translation: X:307.54, Y:-38.16, Z:-7.41 [[ 9.93940612e-01 1.04068295e-01 3.53814842e-02 3.07543804e+02] [-1.04099147e-01 9.94566448e-01 -9.74068160e-04 -3.81613009e+01] [-3.52906066e-02 -2.71501643e-03 9.99373405e-01 -7.41215771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86420382200004 meters Centerline goodness : 0.112927 Centerline is valid? [False, False] Translation: X:307.55, Y:-38.16, Z:-7.41 [[ 9.94337448e-01 1.00465816e-01 3.46360940e-02 3.07545354e+02] [-1.00340658e-01 9.94938825e-01 -5.33739868e-03 -3.81605139e+01] [-3.49970208e-02 1.83176692e-03 9.99385738e-01 -7.41216375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89420382200007 meters Centerline goodness : 0.110630 Centerline is valid? [False, False] Translation: X:307.55, Y:-38.16, Z:-7.41 [[ 9.94720913e-01 9.69132274e-02 3.37362133e-02 3.07547636e+02] [-9.66342657e-02 9.95271639e-01 -9.80731487e-03 -3.81591407e+01] [-3.45271549e-02 6.49546700e-03 9.99382652e-01 -7.41243020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92420382200004 meters Centerline goodness : 0.112179 Centerline is valid? [False, False] Translation: X:307.51, Y:-38.15, Z:-7.41 [[ 9.95207299e-01 9.29701938e-02 3.03145959e-02 3.07512322e+02] [-9.24835449e-02 9.95567684e-01 -1.70815925e-02 -3.81497155e+01] [-3.17683109e-02 1.41961242e-02 9.99394439e-01 -7.41138576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95420382200007 meters Centerline goodness : 0.112989 Centerline is valid? [False, False] Translation: X:307.51, Y:-38.16, Z:-7.41 [[ 9.95147754e-01 9.35241241e-02 3.05644602e-02 3.07512094e+02] [-9.30772641e-02 9.95534579e-01 -1.57329513e-02 -3.81552199e+01] [-3.18993875e-02 1.28117548e-02 9.99408969e-01 -7.41279517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98420382200004 meters Centerline goodness : 0.112989 Centerline is valid? [False, False] Translation: X:307.51, Y:-38.16, Z:-7.41 [[ 9.95147754e-01 9.35241241e-02 3.05644602e-02 3.07512094e+02] [-9.30772641e-02 9.95534579e-01 -1.57329513e-02 -3.81552199e+01] [-3.18993875e-02 1.28117548e-02 9.99408969e-01 -7.41279517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01420382200007 meters Centerline goodness : 0.107347 Centerline is valid? [False, False] Translation: X:307.53, Y:-38.21, Z:-7.40 [[ 9.94358898e-01 9.94692677e-02 3.68272615e-02 3.07529045e+02] [-1.01379635e-01 9.93367002e-01 5.42601877e-02 -3.82125247e+01] [-3.11857653e-02 -5.76876348e-02 9.97847476e-01 -7.40480310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04420382200004 meters Centerline goodness : 0.111551 Centerline is valid? [False, False] Translation: X:307.53, Y:-38.20, Z:-7.41 [[ 9.94357461e-01 1.00645247e-01 3.35227267e-02 3.07533298e+02] [-1.01764076e-01 9.94243353e-01 3.35295172e-02 -3.82011005e+01] [-2.99551617e-02 -3.67517350e-02 9.98875367e-01 -7.40998093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0742038220001 meters Centerline goodness : 0.113228 Centerline is valid? [False, False] Translation: X:307.54, Y:-38.19, Z:-7.42 [[ 9.94238301e-01 1.01870543e-01 3.33555683e-02 3.07540137e+02] [-1.02385050e-01 9.94644993e-01 1.40939685e-02 -3.81894030e+01] [-3.17411888e-02 -1.74278748e-02 9.99344168e-01 -7.41572911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10420382200004 meters Centerline goodness : 0.113090 Centerline is valid? [False, False] Translation: X:307.56, Y:-38.19, Z:-7.42 [[ 9.93943350e-01 1.04659127e-01 3.35124421e-02 3.07560754e+02] [-1.04872721e-01 9.94474661e-01 4.67567918e-03 -3.81882761e+01] [-3.28379220e-02 -8.16190121e-03 9.99427363e-01 -7.41614414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1342038220001 meters Centerline goodness : 0.106059 Centerline is valid? [False, False] Translation: X:307.58, Y:-38.19, Z:-7.41 [[ 9.93702274e-01 1.08328226e-01 2.86493788e-02 3.07576024e+02] [-1.08482014e-01 9.94090900e-01 3.86465273e-03 -3.81905124e+01] [-2.80614358e-02 -6.94825651e-03 9.99582051e-01 -7.41085174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16420382200005 meters Centerline goodness : 0.119614 Centerline is valid? [False, False] Translation: X:307.56, Y:-38.19, Z:-7.42 [[ 9.93231058e-01 1.12117325e-01 3.03606646e-02 3.07558857e+02] [-1.12084430e-01 9.93694774e-01 -2.78856509e-03 -3.81859764e+01] [-3.04818802e-02 -6.33268331e-04 9.99535119e-01 -7.41879423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194203822 meters Centerline goodness : 0.120732 Centerline is valid? [False, False] Translation: X:307.58, Y:-38.19, Z:-7.42 [[ 9.92252537e-01 1.19718641e-01 3.32016390e-02 3.07581968e+02] [-1.19545785e-01 9.92802939e-01 -7.15055926e-03 -3.81881148e+01] [-3.38187400e-02 3.12604458e-03 9.99423094e-01 -7.42491914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22420382200005 meters Centerline goodness : 0.124251 Centerline is valid? [False, False] Translation: X:307.58, Y:-38.18, Z:-7.43 [[ 9.92193836e-01 1.20196751e-01 3.32284948e-02 3.07582846e+02] [-1.20007123e-01 9.92743551e-01 -7.65071225e-03 -3.81845292e+01] [-3.39069646e-02 3.60333349e-03 9.99418498e-01 -7.42592074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254203822 meters Centerline goodness : 0.132877 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.18, Z:-7.43 [[ 9.90915811e-01 1.28891691e-01 3.83769082e-02 3.07606425e+02] [-1.28590835e-01 9.91645096e-01 -1.02176604e-02 -3.81816633e+01] [-3.93732443e-02 5.18992261e-03 9.99211095e-01 -7.43382482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28420382200005 meters Centerline goodness : 0.133529 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.18, Z:-7.43 [[ 9.90897563e-01 1.28981233e-01 3.85468710e-02 3.07606467e+02] [-1.28657760e-01 9.91630591e-01 -1.07680950e-02 -3.81784971e+01] [-3.96131387e-02 5.71072500e-03 9.99198772e-01 -7.43447998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314203822 meters Centerline goodness : 0.137097 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.18, Z:-7.44 [[ 9.90888364e-01 1.28988276e-01 3.87591991e-02 3.07606527e+02] [-1.28640939e-01 9.91626443e-01 -1.13360321e-02 -3.81756111e+01] [-3.98968620e-02 6.24672254e-03 9.99184277e-01 -7.43538170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34420382200005 meters Centerline goodness : 0.141936 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.17, Z:-7.44 [[ 9.90874234e-01 1.29043138e-01 3.89373936e-02 3.07607538e+02] [-1.28670804e-01 9.91615576e-01 -1.19320297e-02 -3.81725296e+01] [-4.01506725e-02 6.81303506e-03 9.99170409e-01 -7.43738716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374203822 meters Centerline goodness : 0.206593 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.17, Z:-7.44 [[ 9.91384355e-01 1.25231061e-01 3.83958652e-02 3.07608755e+02] [-1.24652663e-01 9.92052824e-01 -1.71145293e-02 -3.81663739e+01] [-4.02339972e-02 1.21809297e-02 9.99116035e-01 -7.43877733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40420382200006 meters Centerline goodness : 0.144238 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.16, Z:-7.44 [[ 9.91900822e-01 1.21252943e-01 3.78217382e-02 3.07610206e+02] [-1.20469169e-01 9.92465126e-01 -2.23641083e-02 -3.81600519e+01] [-4.02484701e-02 1.76266240e-02 9.99034215e-01 -7.44022428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43420382200003 meters Centerline goodness : 0.160343 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.16, Z:-7.44 [[ 9.91951162e-01 1.20752574e-01 3.81012811e-02 3.07611031e+02] [-1.19934281e-01 9.92513384e-01 -2.30857441e-02 -3.81562778e+01] [-4.06036945e-02 1.83302810e-02 9.99007178e-01 -7.44210874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46420382200006 meters Centerline goodness : 0.177765 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.15, Z:-7.44 [[ 9.92490725e-01 1.16398258e-01 3.75979448e-02 3.07612242e+02] [-1.15367334e-01 9.92913324e-01 -2.85220933e-02 -3.81489013e+01] [-4.06514223e-02 2.39703384e-02 9.98885822e-01 -7.44318213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49420382200003 meters Centerline goodness : 0.220507 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.15, Z:-7.44 [[ 9.92503692e-01 1.16224485e-01 3.77927249e-02 3.07612105e+02] [-1.15185694e-01 9.92932218e-01 -2.85983534e-02 -3.81484955e+01] [-4.08494431e-02 2.40307901e-02 9.98876291e-01 -7.44381852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382200006 meters Centerline goodness : 0.299987 Centerline is valid? [False, False] Translation: X:307.61, Y:-38.14, Z:-7.44 [[ 9.93028659e-01 1.11659632e-01 3.77651754e-02 3.07611743e+02] [-1.10396613e-01 9.93304938e-01 -3.40277454e-02 -3.81416611e+01] [-4.13118608e-02 2.96213790e-02 9.98707116e-01 -7.44441634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55420382200003 meters SLAMing on 317.58420382200006 meters Centerline goodness : 0.222063 Centerline is valid? [False, False] Translation: X:307.64, Y:-38.14, Z:-7.46 [[ 9.93005449e-01 1.09589256e-01 4.39360077e-02 3.07641824e+02] [-1.08387654e-01 9.93689581e-01 -2.88640306e-02 -3.81428658e+01] [-4.68219407e-02 2.39000189e-02 9.98617292e-01 -7.45751297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61420382200004 meters SLAMing on 317.64420382200007 meters SLAMing on 317.67420382200004 meters Centerline goodness : 0.064846 Centerline is valid? [False, False] Translation: X:307.65, Y:-38.13, Z:-7.46 [[ 9.92656116e-01 1.12307402e-01 4.49542266e-02 3.07646910e+02] [-1.11150995e-01 9.93424242e-01 -2.74541813e-02 -3.81306419e+01] [-4.77419263e-02 2.22558540e-02 9.98611729e-01 -7.46412911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70420382200007 meters Centerline goodness : 0.049893 Centerline is valid? [False, False] Translation: X:307.65, Y:-38.13, Z:-7.47 [[ 9.92686869e-01 1.12021744e-01 4.49878828e-02 3.07647823e+02] [-1.10829282e-01 9.93439664e-01 -2.81869507e-02 -3.81267290e+01] [-4.78502985e-02 2.29948411e-02 9.98589799e-01 -7.46534916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73420382200004 meters Centerline goodness : 0.825977 Centerline is valid? [False, False] Translation: X:307.65, Y:-38.12, Z:-7.47 [[ 9.92714084e-01 1.11766495e-01 4.50222000e-02 3.07648776e+02] [-1.10546413e-01 9.93455274e-01 -2.87420977e-02 -3.81237324e+01] [-4.79399456e-02 2.35556425e-02 9.98572428e-01 -7.46671965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382200007 meters Centerline goodness : 0.781117 Centerline is valid? [False, False] Translation: X:307.65, Y:-38.12, Z:-7.47 [[ 9.92737888e-01 1.11550296e-01 4.50335042e-02 3.07649693e+02] [-1.10311771e-01 9.93470435e-01 -2.91171294e-02 -3.81216333e+01] [-4.79874794e-02 2.39379519e-02 9.98561053e-01 -7.46805459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79420382200004 meters Centerline goodness : 0.814506 Centerline is valid? [False, False] Translation: X:307.66, Y:-38.12, Z:-7.47 [[ 9.92995270e-01 1.09497129e-01 4.43933768e-02 3.07656023e+02] [-1.08196349e-01 9.93654708e-01 -3.07224909e-02 -3.81184675e+01] [-4.74757124e-02 2.57040869e-02 9.98541615e-01 -7.47263084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8242038220001 meters Centerline goodness : 0.792768 Centerline is valid? [False, False] Translation: X:307.66, Y:-38.11, Z:-7.47 [[ 9.93492589e-01 1.05095854e-01 4.39014427e-02 3.07657264e+02] [-1.03564654e-01 9.93977775e-01 -3.58126447e-02 -3.81126052e+01] [-4.74008188e-02 3.10329594e-02 9.98393769e-01 -7.47370377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85420382200004 meters Centerline goodness : 0.804473 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.11, Z:-7.47 [[ 9.94331961e-01 9.85587060e-02 3.98764779e-02 3.07679741e+02] [-9.71443248e-02 9.94619760e-01 -3.59793451e-02 -3.81135380e+01] [-4.32080106e-02 3.19016393e-02 9.98556635e-01 -7.47309079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8842038220001 meters Centerline goodness : 0.787117 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.12, Z:-7.47 [[ 9.94335149e-01 9.85158810e-02 3.99027897e-02 3.07680297e+02] [-9.71170036e-02 9.94636029e-01 -3.56013797e-02 -3.81157049e+01] [-4.31960536e-02 3.15244638e-02 9.98569131e-01 -7.47402485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91420382200005 meters Centerline goodness : 0.622358 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.12, Z:-7.47 [[ 9.94334562e-01 9.84706709e-02 4.00288089e-02 3.07680502e+02] [-9.70758770e-02 9.94646691e-01 -3.54151761e-02 -3.81167889e+01] [-4.33018785e-02 3.13287019e-02 9.98570708e-01 -7.47494348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944203822 meters Centerline goodness : 0.802098 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.12, Z:-7.48 [[ 9.94350598e-01 9.82391339e-02 4.01990137e-02 3.07681612e+02] [-9.68352011e-02 9.94667101e-01 -3.55007294e-02 -3.81163672e+01] [-4.34721973e-02 3.14074919e-02 9.98560833e-01 -7.47617059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97420382200005 meters Centerline goodness : 0.808931 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.12, Z:-7.48 [[ 9.94348142e-01 9.82188617e-02 4.03091411e-02 3.07682077e+02] [-9.68096528e-02 9.94668111e-01 -3.55420926e-02 -3.81163122e+01] [-4.35851211e-02 3.14388998e-02 9.98554922e-01 -7.47721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004203822 meters Centerline goodness : 0.783754 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.12, Z:-7.48 [[ 9.94338885e-01 9.82711374e-02 4.04099761e-02 3.07682660e+02] [-9.68604338e-02 9.94664525e-01 -3.55040663e-02 -3.81168578e+01] [-4.36833947e-02 3.13889459e-02 9.98552199e-01 -7.47860553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03420382200005 meters Centerline goodness : 0.779479 Centerline is valid? [False, False] Translation: X:307.68, Y:-38.11, Z:-7.48 [[ 9.94341251e-01 9.82514318e-02 4.03996730e-02 3.07684746e+02] [-9.68227826e-02 9.94653205e-01 -3.59214505e-02 -3.81148260e+01] [-4.37129982e-02 3.18065712e-02 9.98537689e-01 -7.48025518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064203822 meters Centerline goodness : 0.775289 Centerline is valid? [False, False] Translation: X:307.69, Y:-38.11, Z:-7.48 [[ 9.94352777e-01 9.81486390e-02 4.03658288e-02 3.07685944e+02] [-9.67018770e-02 9.94649059e-01 -3.63592576e-02 -3.81121000e+01] [-4.37184453e-02 3.22504773e-02 9.98523212e-01 -7.48147096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09420382200005 meters Centerline goodness : 0.772088 Centerline is valid? [False, False] Translation: X:307.69, Y:-38.11, Z:-7.48 [[ 9.94370229e-01 9.80095702e-02 4.02737200e-02 3.07687561e+02] [-9.65414927e-02 9.94644205e-01 -3.69140202e-02 -3.81084175e+01] [-4.36759495e-02 3.28181177e-02 9.98506576e-01 -7.48296659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124203822 meters Centerline goodness : 0.768477 Centerline is valid? [False, False] Translation: X:307.70, Y:-38.11, Z:-7.49 [[ 9.94201670e-01 9.98913230e-02 3.98090829e-02 3.07695407e+02] [-9.84942897e-02 9.94499320e-01 -3.56367292e-02 -3.81067380e+01] [-4.31499060e-02 3.15091284e-02 9.98571610e-01 -7.48880769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15420382200006 meters Centerline goodness : 0.763600 Centerline is valid? [False, False] Translation: X:307.70, Y:-38.11, Z:-7.49 [[ 9.94205856e-01 9.98485418e-02 3.98118749e-02 3.07696628e+02] [-9.84365426e-02 9.94492657e-01 -3.59805859e-02 -3.81050021e+01] [-4.31852263e-02 3.18531658e-02 9.98559168e-01 -7.49029694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18420382200003 meters Centerline goodness : 0.764334 Centerline is valid? [False, False] Translation: X:307.70, Y:-38.10, Z:-7.49 [[ 9.94212631e-01 9.97809434e-02 3.98121616e-02 3.07697697e+02] [-9.83549838e-02 9.94489023e-01 -3.63026181e-02 -3.81032631e+01] [-4.32150671e-02 3.21767969e-02 9.98547501e-01 -7.49152806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21420382200006 meters Centerline goodness : 0.755089 Centerline is valid? [False, False] Translation: X:307.70, Y:-38.10, Z:-7.50 [[ 9.94091430e-01 1.01080185e-01 3.95604058e-02 3.07703866e+02] [-9.96944412e-02 9.94382303e-01 -3.55647868e-02 -3.81034439e+01] [-4.29330626e-02 3.14106972e-02 9.98584058e-01 -7.49621300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24420382200003 meters Centerline goodness : 0.751418 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94087773e-01 1.01124446e-01 3.95391720e-02 3.07705165e+02] [-9.97370282e-02 9.94376071e-01 -3.56195790e-02 -3.81036349e+01] [-4.29188167e-02 3.14654684e-02 9.98582946e-01 -7.49799957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27420382200006 meters Centerline goodness : 0.500717 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94082105e-01 1.01163584e-01 3.95815360e-02 3.07708020e+02] [-9.97691956e-02 9.94368134e-01 -3.57508223e-02 -3.81034791e+01] [-4.29752994e-02 3.15902347e-02 9.98576577e-01 -7.50040542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30420382200003 meters Centerline goodness : 0.660166 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94090143e-01 1.01051585e-01 3.96656600e-02 3.07708969e+02] [-9.96448798e-02 9.94372553e-01 -3.59739404e-02 -3.81019704e+01] [-4.30776673e-02 3.18088596e-02 9.98565226e-01 -7.50163562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33420382200006 meters Centerline goodness : 0.710060 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94094991e-01 1.00975173e-01 3.97386925e-02 3.07709742e+02] [-9.95600492e-02 9.94375959e-01 -3.61143770e-02 -3.81008100e+01] [-4.31618560e-02 3.19447351e-02 9.98557253e-01 -7.50274810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36420382200004 meters Centerline goodness : 0.653232 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94096535e-01 1.00877534e-01 3.99474971e-02 3.07710528e+02] [-9.94481331e-02 9.94380815e-01 -3.62886244e-02 -3.80996404e+01] [-4.33837316e-02 3.21016917e-02 9.98542605e-01 -7.50397455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39420382200007 meters Centerline goodness : 0.669397 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.50 [[ 9.94098471e-01 1.00727441e-01 4.02766891e-02 3.07711322e+02] [-9.92731233e-02 9.94386338e-01 -3.66149997e-02 -3.80981072e+01] [-4.37387246e-02 3.24005225e-02 9.98517466e-01 -7.50439895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42420382200004 meters Centerline goodness : 0.616123 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.51 [[ 9.94096270e-01 1.00622120e-01 4.05930346e-02 3.07711858e+02] [-9.91487637e-02 9.94391429e-01 -3.68131532e-02 -3.80965940e+01] [-4.40695832e-02 3.25710691e-02 9.98497370e-01 -7.50539773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45420382200007 meters Centerline goodness : 0.600956 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.51 [[ 9.94101581e-01 1.00529388e-01 4.06926265e-02 3.07712442e+02] [-9.90425238e-02 9.94393429e-01 -3.70443802e-02 -3.80953100e+01] [-4.41885293e-02 3.27955764e-02 9.98484764e-01 -7.50625290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48420382200004 meters Centerline goodness : 0.642993 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.10, Z:-7.51 [[ 9.94096216e-01 1.00523903e-01 4.08369756e-02 3.07712857e+02] [-9.90276105e-02 9.94390978e-01 -3.71499079e-02 -3.80950710e+01] [-4.43423739e-02 3.28865948e-02 9.98474950e-01 -7.50721541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51420382200007 meters Centerline goodness : 0.654764 Centerline is valid? [False, False] Translation: X:307.71, Y:-38.09, Z:-7.51 [[ 9.94097257e-01 1.00418997e-01 4.10690671e-02 3.07714353e+02] [-9.88967341e-02 9.94388614e-01 -3.75595481e-02 -3.80930390e+01] [-4.46103048e-02 3.32762471e-02 9.98450105e-01 -7.50809098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54420382200004 meters Centerline goodness : 0.686995 Centerline is valid? [False, False] Translation: X:307.72, Y:-38.09, Z:-7.51 [[ 9.94113653e-01 1.00256401e-01 4.10694412e-02 3.07715848e+02] [-9.87174248e-02 9.94392288e-01 -3.79321564e-02 -3.80907241e+01] [-4.46420771e-02 3.36546051e-02 9.98436003e-01 -7.50953266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5742038220001 meters Centerline goodness : 0.632783 Centerline is valid? [False, False] Translation: X:307.72, Y:-38.09, Z:-7.52 [[ 9.94079876e-01 1.00709247e-01 4.07780189e-02 3.07723999e+02] [-9.91813133e-02 9.94347064e-01 -3.79075768e-02 -3.80880684e+01] [-4.43651468e-02 3.36387418e-02 9.98448881e-01 -7.51586747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60420382200004 meters Centerline goodness : 0.670149 Centerline is valid? [False, False] Translation: X:307.73, Y:-38.09, Z:-7.52 [[ 9.94101631e-01 1.00527157e-01 4.06969092e-02 3.07725932e+02] [-9.89895933e-02 9.94355546e-01 -3.81852002e-02 -3.80859556e+01] [-4.43058470e-02 3.39313993e-02 9.98441612e-01 -7.51776762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6342038220001 meters Centerline goodness : 0.671693 Centerline is valid? [False, False] Translation: X:307.73, Y:-38.08, Z:-7.52 [[ 9.94124122e-01 1.00327057e-01 4.06412574e-02 3.07727561e+02] [-9.87775223e-02 9.94364620e-01 -3.84967986e-02 -3.80839038e+01] [-4.42744990e-02 3.42561534e-02 9.98431913e-01 -7.51919449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66420382200005 meters Centerline goodness : 0.623057 Centerline is valid? [False, False] Translation: X:307.73, Y:-38.08, Z:-7.52 [[ 9.94145533e-01 1.00099323e-01 4.06790353e-02 3.07730194e+02] [-9.85313862e-02 9.94374097e-01 -3.88808696e-02 -3.80822586e+01] [-4.43421277e-02 3.46450812e-02 9.98415492e-01 -7.52054410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694203822 meters Centerline goodness : 0.648588 Centerline is valid? [False, False] Translation: X:307.73, Y:-38.08, Z:-7.52 [[ 9.94155081e-01 1.00043841e-01 4.05820837e-02 3.07732099e+02] [-9.84793482e-02 9.94379331e-01 -3.88788274e-02 -3.80829218e+01] [-4.42435725e-02 3.46550867e-02 9.98419517e-01 -7.52270205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72420382200005 meters Centerline goodness : 0.630812 Centerline is valid? [False, False] Translation: X:307.74, Y:-38.08, Z:-7.53 [[ 9.94345260e-01 9.84473626e-02 3.98198468e-02 3.07740038e+02] [-9.68524013e-02 9.94487420e-01 -4.01793968e-02 -3.80806887e+01] [-4.35558924e-02 3.60955450e-02 9.98398716e-01 -7.52732385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754203822 meters Centerline goodness : 0.660465 Centerline is valid? [False, False] Translation: X:307.74, Y:-38.08, Z:-7.53 [[ 9.94362545e-01 9.82881652e-02 3.97814826e-02 3.07741468e+02] [-9.66906553e-02 9.94499527e-01 -4.02691844e-02 -3.80799042e+01] [-4.35206499e-02 3.61956710e-02 9.98396628e-01 -7.52883384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78420382200005 meters Centerline goodness : 0.651580 Centerline is valid? [False, False] Translation: X:307.74, Y:-38.08, Z:-7.53 [[ 9.94384000e-01 9.80979193e-02 3.97147099e-02 3.07743203e+02] [-9.64982977e-02 9.94514012e-01 -4.03727489e-02 -3.80791428e+01] [-4.34573182e-02 3.63136137e-02 9.98395104e-01 -7.53061276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814203822 meters Centerline goodness : 0.671140 Centerline is valid? [False, False] Translation: X:307.77, Y:-38.08, Z:-7.53 [[ 9.95038738e-01 9.27735064e-02 3.59302863e-02 3.07766975e+02] [-9.13436699e-02 9.95032494e-01 -3.95811882e-02 -3.80782158e+01] [-3.94238880e-02 3.61028113e-02 9.98570150e-01 -7.52799949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84420382200005 meters Centerline goodness : 0.658572 Centerline is valid? [False, False] Translation: X:307.77, Y:-38.08, Z:-7.53 [[ 9.95062250e-01 9.25729326e-02 3.57962473e-02 3.07768821e+02] [-9.11562567e-02 9.95058064e-01 -3.93698600e-02 -3.80793617e+01] [-3.92639279e-02 3.59124095e-02 9.98583318e-01 -7.52959080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874203822 meters Centerline goodness : 0.651977 Centerline is valid? [False, False] Translation: X:307.77, Y:-38.08, Z:-7.53 [[ 9.95205753e-01 9.13239421e-02 3.50063891e-02 3.07774551e+02] [-8.99175626e-02 9.95151971e-01 -3.98420251e-02 -3.80796342e+01] [-3.84752079e-02 3.65033234e-02 9.98592592e-01 -7.53323066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90420382200006 meters Centerline goodness : 0.651977 Centerline is valid? [False, False] Translation: X:307.77, Y:-38.08, Z:-7.53 [[ 9.95205753e-01 9.13239421e-02 3.50063891e-02 3.07774551e+02] [-8.99175626e-02 9.95151971e-01 -3.98420251e-02 -3.80796342e+01] [-3.84752079e-02 3.65033234e-02 9.98592592e-01 -7.53323066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93420382200003 meters Centerline goodness : 0.677592 Centerline is valid? [False, False] Translation: X:307.80, Y:-38.09, Z:-7.53 [[ 9.95937150e-01 8.43523921e-02 3.15256726e-02 3.07797858e+02] [-8.30985660e-02 9.95771369e-01 -3.91664284e-02 -3.80852829e+01] [-3.46961441e-02 3.63875629e-02 9.98735262e-01 -7.52968047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96420382200006 meters Centerline goodness : 0.670933 Centerline is valid? [False, False] Translation: X:307.80, Y:-38.09, Z:-7.53 [[ 9.96063299e-01 8.31310409e-02 3.07755506e-02 3.07803717e+02] [-8.18906286e-02 9.95854940e-01 -3.95836320e-02 -3.80869187e+01] [-3.39386126e-02 3.69075739e-02 9.98742210e-01 -7.53389384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99420382200003 meters Centerline goodness : 0.646495 Centerline is valid? [False, False] Translation: X:307.81, Y:-38.09, Z:-7.54 [[ 9.96063771e-01 8.31605237e-02 3.06804621e-02 3.07805020e+02] [-8.19373065e-02 9.95867081e-01 -3.91795111e-02 -3.80894236e+01] [-3.38118509e-02 3.65114171e-02 9.98761070e-01 -7.53529807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382200006 meters Centerline goodness : 0.620396 Centerline is valid? [False, False] Translation: X:307.81, Y:-38.09, Z:-7.54 [[ 9.96068266e-01 8.30490705e-02 3.08360508e-02 3.07806996e+02] [-8.18237100e-02 9.95880490e-01 -3.90759553e-02 -3.80897972e+01] [-3.39542431e-02 3.63991989e-02 9.98760335e-01 -7.53569464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05420382200003 meters Centerline goodness : 0.616233 Centerline is valid? [False, False] Translation: X:307.81, Y:-38.09, Z:-7.54 [[ 9.96061951e-01 8.31260010e-02 3.08327295e-02 3.07807837e+02] [-8.19038430e-02 9.95877472e-01 -3.89848743e-02 -3.80903467e+01] [-3.39462774e-02 3.63060309e-02 9.98763997e-01 -7.53666140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382200006 meters Centerline goodness : 0.575016 Centerline is valid? [False, False] Translation: X:307.81, Y:-38.09, Z:-7.54 [[ 9.96046295e-01 8.33157166e-02 3.08264431e-02 3.07809027e+02] [-8.20988469e-02 9.95867273e-01 -3.88349475e-02 -3.80920769e+01] [-3.39346073e-02 3.61505901e-02 9.98770032e-01 -7.53815994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11420382200004 meters Centerline goodness : 0.630020 Centerline is valid? [False, False] Translation: X:307.83, Y:-38.10, Z:-7.54 [[ 9.95833063e-01 8.71474062e-02 2.68670767e-02 3.07834411e+02] [-8.60347477e-02 9.95484411e-01 -4.01099814e-02 -3.80998508e+01] [-3.02412369e-02 3.76313435e-02 9.98833995e-01 -7.53829394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382200007 meters Centerline goodness : 0.620476 Centerline is valid? [False, False] Translation: X:307.84, Y:-38.10, Z:-7.54 [[ 9.95828067e-01 8.72619881e-02 2.66797026e-02 3.07836481e+02] [-8.61597770e-02 9.95478183e-01 -3.99959941e-02 -3.81005852e+01] [-3.00491918e-02 3.75304163e-02 9.98843588e-01 -7.54026757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17420382200004 meters Centerline goodness : 0.637047 Centerline is valid? [False, False] Translation: X:307.84, Y:-38.10, Z:-7.54 [[ 9.95743543e-01 8.83105359e-02 2.63826701e-02 3.07843025e+02] [-8.72513119e-02 9.95425971e-01 -3.89145773e-02 -3.81039262e+01] [-2.96985622e-02 3.64470166e-02 9.98894194e-01 -7.54496832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7954.69 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/10635 [00:00